基於影像處理的輪型移動機器人循跡策略

TRACKING PATH STRATEGY OF A WHEELED MOBILE ROBOT BASED ON IMAGE RECOGNITION

陳炫邑(Hsuan-Yi Chen)

指導教授 ： 游文雄

大同大學/電機資訊學院/電機工程學系所/碩士(2012年)

摘要

本論文的目的是建立一個基於影像處理的輪型移動機器人及時循跡策略。本體架構整合了四個部分，分別是影像處理、模糊控制系統、微處理器與驅動控制系統、以及無線傳輸(WI-FI)。其中，前兩部份是安裝在一台個人電腦或筆電上，後兩部分則在輪型機器人上，此兩者間將藉由WIFI無線傳輸，使輪型機器人上的微處理器降低資料量的交換以及減少計算的負擔。影像處理與模糊控制器是本文的核心，我們透過影像處理中的連通標記將地面軌跡的重心座標擷取出來，並且以曲線方式計算出軌跡實際距離與圖片中軌跡像素之間的距離關係，再將結果當作設計控制器的依據。利用模糊控制器分析出輪型移動機器人的位置與軌跡的中心之間的偏差，調整輪型移動機器人速度與方向以達成地面軌跡的追蹤。最後，根據實驗的結果可以證明本文所提出的概念是可行的。

關鍵字

輪型移動機器人 ； 影像 ； 模糊控制器 ； 追蹤

並列摘要

The main purpose of this thesis establishes the tracking path of a wheeled mobile robot (WMR) which is based on image processing. The structures are integrated by four parts. They are image processing algorithm, fuzzy control algorithm, micro-processing and drive control system, and wireless fidelity (Wi-Fi), where the first two parts are setup on PC or NB and the rest are on WMR. The advantages of calculation image processing algorithm and fuzzy control algorithms on PC by Wi-Fi are that it can decrease the quantities of data interchange and reduce the computational load on the micro-processing system. The core of the thesis is image processing and fuzzy control design. The image processing captures the center of gravity coordinates of ground path by the Connected-Component Labeling of the captured image. Then, we can obtain the relationship between actual distance from path and Euclidean distance through Curve Fitting. Using fuzzy control design, the deviation between the position of WMR and the coordinates of the center of ground path can be reduced, and the speed and direction of the WMR for tracking ground path can be achieved. Experimental results show that the proposed control schemes are feasible.

並列關鍵字

WMR ； image ； fuzzy controller ； tracking

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