本研究目的為設計一智慧型循跡避障輪型移動機器人,在循跡部分以機器人的視覺攝影機及筆記型電腦為核心;避障部分使用機器人的超音波感測器(ultrasonic sensor)進行障礙物距離測量,透過攝影機與超音波所求出的資訊決定移動機器人的移動方向,成功到達目標同時兼具避開障礙物的目標。本論文使用兩個控制方法,分別為超音波避障的模糊控制理論與影像循跡的PID控制器。首先使用超音波感測器偵測環境中障礙物與車子之間的距離,其中偵測範圍分割成三個感測區域,並以模糊控制理論整合判斷控制機器人左右輪速;另外使用攝影機擷取目標物件於環境中的影像,再利用OpenCV中的影像處理(image processing)方法截取所欲追循之軌跡線的特徵點,使用這些特徵點計算出影像中心點之像素距離,修正機器人輪胎速度,最後將影像軌跡追蹤控制合併超音波模糊避障控制設計出智慧型循跡避障機器人系統,再經由實際實驗與測試來證明此系統的可行性。
This thesis presents the design and implementation of car -like mobile robot with intelligent tracking capability. The mobile robot used the camera and computer in the part of tracking, and measured the distance between obstacles and robot with ultrasonic sensor in the part of obstacle avoidance . Controlled the mobile robot with the information, got from camera and ultrasonic sensor, to reached the target without collision. There are two control methods in this paper, obstacle avoidance with Fuzzy control and image tracking with PID control. First, got the distance between the obstacles and mobile robot from environment by ultrasonic sensor, and divided into three sensing regions, then control the velocity of two wheels from robot by fuzzy control theory. Besides, tracked the objects from the environment by camera, and used OpenCV to capture the feature points in trajectory line. Calculated the distance between the center of the image pixel and the feature points to control the velocity from two wheels. Finally, combined the obstacle avoidance control and image tracking control to designed a mobile robot with intelligent tracking and obstacle avoidance. Then prove the feasibility with simulations and experiments.