Implementation of Remotely Guided Micro-Processor Controlled Tracking Mobile Robot

• Main Authors: Kuang-Chung Wei, 魏光群
• Other Authors: Yiing-Yuh Lin
• Format: Others
• Language: zh-TW
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/90561051502989735464

碩士 === 國立成功大學 === 航空太空工程學系碩博士班 === 91 === In this thesis, a multi-micro-processor controlled robot mobile which can track an IR target was studied and built. This mobile transfers its sensor data and motor voltage to a server personal computer and receives command from it with a radio frequency wireless modem in real time. The electronic hardware of this robot mobile, includes 8051 chip, A/D — D/A unit, motor servo unit, IR sensors, battery unit, and wireless modem. The kinematics of this mobile was derived and the controller with fuzzy logic was formulated for tracking simulation and experiment. And an animation program to show the simulated tracking process was developed. Also, a servo-motor mounted with direct drive motor was implemented to have the target moving along a circle and making S like motion. In the experiment, the real-time multi-micro-processor is successfully used as the controller and the remote data-transfer regulator directing the mobile to track several target motions and linking to the server computer with wireless modem.