基於混和式視覺回授之自主式移動機器人位置控制

Hybrid-Vision-Based Feedback Control for Localization of an Autonomous Mobile Robot

江宥莆(Chiang You-Fu)

指導教授 ： 陳俊達

國立臺灣師範大學/科技與工程學院/機電工程學系/碩士(2021年)

https://doi.org/10.6345/NTNU202101231

摘要

本論文「基於混和式視覺回授之自主式移動機器人位置控制」旨在開發可應用於溫室農業採收以及室內服務型之自主式輪型移動機器人。文中探討了移動機器人的設計、控制法和其位置控制之應用，其著重在使移動機器人具有自主移動功能並實現自動化、低成本以及精準定位之應用。為了開發自主式移動機器人，本論文結合了攝相機與移動機器人，並比較了基於影像視覺之不同控制法，分別為基於位置之視覺伺服控制(Position Based Visual Control, PBVS)、基於圖像之視覺伺服控制(Image Based Visual Control, IBVS)與本論文提出之混合式視覺回授控制(Hybrid Visual Servo Control, HVSC)，最後也進行其相關應用之實驗與探討，包含目標追蹤之位置控制、控制法參數與移動機器人轉向實驗。實驗結果顯示本論文所開發的基於混合式視覺回授控制之自主式移動機器人能夠精準地完成室內位置控制效果。

關鍵字

自主式移動機器人 ； 超寬頻室內定位 ； 位置控制 ； 基於位置之視覺伺服控制 ； 基於圖像之視覺伺服控制

並列摘要

This thesis “Hybrid-Vision-Based Feedback Control for Localization of an Autonomous Mobile Robot” aims to develop an autonomous wheeled mobile robot that can be used in greenhouse agricultural harvesting and indoor service. This article introduces the design and control method of mobile robots and the application of its position control. It focuses on enabling mobile robot to have autonomous movement functions and realize the application of automation, low cost and precise positioning. In order to develop autonomous mobile robots, this paper combines cameras and mobile robots and we compare different visual servo control methods. Respectively, PBVS(Position Based Visual Servo)、IBVS(Image Based Visual Servo) and HVSC(Hybrid Visual Servo Control) which proposed in this paper. Finally, we presented related applications and experiments, including the position control of target tracking, discussion of control method parameters and turning experiment. The results show that the autonomous mobile robot based on hybrid visual feedback servo control developed in this paper can accurately complete the indoor position control effect.

並列關鍵字

Autonomous mobile robot ； Ultra-wireband ； indoor positioning Position control ； PBVS ； IBVS

參考文獻

參考文獻

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