Image Servoing Motion control for an Omni-directional Mobile Robot

碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 93 === Image servo controller of omni-directional mobile robot for small-size soccer robot game is designed in this study. Small-size soccer robot game is using global vision system with CCD to capture the image of the soccer field. The control commands of the robot...

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Main Authors: Chih-Wei Li, 李志偉
Other Authors: Yin-Tien Wang
Format: Others
Language:zh-TW
Published: 2005
Online Access:http://ndltd.ncl.edu.tw/handle/53730480268223227466
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spelling ndltd-TW-093TKU054890042015-10-13T11:57:25Z http://ndltd.ncl.edu.tw/handle/53730480268223227466 Image Servoing Motion control for an Omni-directional Mobile Robot 全方位移動機器人之影像伺服運動控制 Chih-Wei Li 李志偉 碩士 淡江大學 機械與機電工程學系碩士班 93 Image servo controller of omni-directional mobile robot for small-size soccer robot game is designed in this study. Small-size soccer robot game is using global vision system with CCD to capture the image of the soccer field. The control commands of the robot are calculated by the designed image servo controller, and then sent to the omni-directional robot through the RF wireless communication to complete whole control procedure. First of all, the dynamic equations of omni-directional mobile robot are inferred based on related kinematic, static, and dynamic theory. According to the dynamic equations, PID controller and inverse dynamic controller are designed. Secondly, it uses Matlab Simulink simulation to assist the realization of omni-directional mobile robot, which includes commands generation, modeling robot, PID controller, and omni-directional mobile robot system. The workability is tested by point-to-point motion control simulation. Finally, image processing technology of image correction is applied to the image servo controller, such that errors caused by vision are corrected, and the image is close to the actuality without distortion. In testing omni-directional robot system, open-loop control and close-loop PID control are used to discuss the response of omni-directional mobile robot system, and then compared to the result of simulation to image servo control procedure. According to the result of numerical simulation and experimenting on the field, employing the designed PID controller, the omni-directional mobile robot can obey the following designed control commands: X-axis, Y-axis, and angle control commands, and achieve the target and angle requested by the control command. Yin-Tien Wang 王銀添 2005 學位論文 ; thesis 62 zh-TW
collection NDLTD
language zh-TW
format Others
sources NDLTD
description 碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 93 === Image servo controller of omni-directional mobile robot for small-size soccer robot game is designed in this study. Small-size soccer robot game is using global vision system with CCD to capture the image of the soccer field. The control commands of the robot are calculated by the designed image servo controller, and then sent to the omni-directional robot through the RF wireless communication to complete whole control procedure. First of all, the dynamic equations of omni-directional mobile robot are inferred based on related kinematic, static, and dynamic theory. According to the dynamic equations, PID controller and inverse dynamic controller are designed. Secondly, it uses Matlab Simulink simulation to assist the realization of omni-directional mobile robot, which includes commands generation, modeling robot, PID controller, and omni-directional mobile robot system. The workability is tested by point-to-point motion control simulation. Finally, image processing technology of image correction is applied to the image servo controller, such that errors caused by vision are corrected, and the image is close to the actuality without distortion. In testing omni-directional robot system, open-loop control and close-loop PID control are used to discuss the response of omni-directional mobile robot system, and then compared to the result of simulation to image servo control procedure. According to the result of numerical simulation and experimenting on the field, employing the designed PID controller, the omni-directional mobile robot can obey the following designed control commands: X-axis, Y-axis, and angle control commands, and achieve the target and angle requested by the control command.
author2 Yin-Tien Wang
author_facet Yin-Tien Wang
Chih-Wei Li
李志偉
author Chih-Wei Li
李志偉
spellingShingle Chih-Wei Li
李志偉
Image Servoing Motion control for an Omni-directional Mobile Robot
author_sort Chih-Wei Li
title Image Servoing Motion control for an Omni-directional Mobile Robot
title_short Image Servoing Motion control for an Omni-directional Mobile Robot
title_full Image Servoing Motion control for an Omni-directional Mobile Robot
title_fullStr Image Servoing Motion control for an Omni-directional Mobile Robot
title_full_unstemmed Image Servoing Motion control for an Omni-directional Mobile Robot
title_sort image servoing motion control for an omni-directional mobile robot
publishDate 2005
url http://ndltd.ncl.edu.tw/handle/53730480268223227466
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