本篇論文主旨在於以下幾點,配合安裝在移動式機器人上的全景式攝影機、雙眼攝影機以及已安裝在移動式機器人上的電腦主機,透過電腦視覺中的CAMSHIFT 追蹤演算法,並且配合模糊控制理論操控馬達用於兩個差速輪,來達到移動式機器人即時追隨人的目的。論文中強調全景式攝影機以及雙眼攝影機在配合上擁有互補的優勢,以及在雙眼與全景式配合之下使用CAMSHIFT 追蹤演算法的優勢,並且結合實際的控制以及展現實際的操作成果,進而一步證明了這個方法的可行性。成果可以在未來人類生活上增加了機器人看護或是尾隨人運送貨物等實用的服務生活機能。
This thesis is suppose in following things, to use a panoramic camera, two-eyes like stereo cameras with a computer which amounted on a mobile robot. Use these equipments with CAMSHFIT to built computer vision. With the computer vision to get the target information and then can control two serve motors to drive two different driven wheels with fuzzy control rules to achieve person following in mobile robot. In thesis emphasize the superior using panoramic camera with stereo cameras and the superior by using CAMSHIFT. Combining fuzzy control methods and in the end shows the actual performance. Furthermore prove the feasibility of this thesis. The achievement can be use in the future life to take care elders, children, or can carry the luggage of the following person to promote human life quality.