自走車在智慧型空間下之動態目標追蹤

Dynamic Target Tracking of Car-Like Mobile Robots in an Intelligent Space

汪在祥(Tsai-Hsiang Wang)

指導教授 ： 黃志良

大同大學/工程學院/機械工程學系所/碩士(2005年)

摘要

本篇論文是在智慧型空間下應用灰色預測動態目標之自走車追蹤。分別用兩台分散的CCD（運用同步盒），用來得到自走車的動態位置，以實踐動態目標的追蹤。在此基礎下，有兩台CCD控制權的交換，和計畫適合自走車的追蹤模式，用無線模組傳輸不同的參考速度和角度。灰色預測明顯改善了動態目標追蹤的軌跡。此控制系統包括兩個不同取樣頻率之微處理器，一個是工業電腦擷取目標及追蹤自走車的位置，並計劃追蹤模式，傳送給自走車；另一個是裝於自走車上的數位訊號處理器，用來控制兩個直流馬達。最後用一系列的實驗來證明次控制系統的可行性。

關鍵字

智慧型空間、自走車、追蹤模式、離散式控制、灰色預測。

並列摘要

Abstract -- In this paper, the target tracking mobile robot within an intelligent space via grey prediction was developed. To implement target tracking mobile robot, two distributed CCD (charge-coupled device) cameras were set up to realize the dynamic position of the mobile robot. Based on the control authority of these two CCD cameras, a suitable reference tracking mode including desired steering angle and forward velocity for the proposed controller of the car-like mobile robot (CLMR) was planned. It was also transmitted to the CLMR by a wireless module. The grey prediction was obvious to improve the dynamic route. The proposed control system included two processors with multiple sampling rates. One personal computer was employed to capture the image of tracking CLMR and target CLMR, to plan a tracking mode for the CLMR, and then to transmit the planned reference trajectory to the CLMR. The other was a DSP (digital signal processor) implementing in the CLMR to control two DC motors. Finally, a sequence of experiments was carried out to confirm the performance of the proposed control system.

並列關鍵字

Decentralized control ； Grey theory. ； Intelligent space ； Mobile robot ； Trajectory tracking

參考文獻

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