| Summary: | 碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 94 === An object-tracking behavior is designed in this thesis for a two-wheeled mobile robot with omni-directional vision. Firstly, the robot dynamics model is derived by using Lagrange formulation. In the dynamics model, the motor-driven torques are chosen as input variables of the system in order to improve the dynamic characteristic of the controller. Secondly, on the basis of Lyapunov’s direct method and inverse dynamics control, two robot motion controllers are deduced from the concepts of the system stability and the unit-mass control, respectively. Finally, utilize the specific functions of these two controllers to develop an object-tracking behavior for a mobile robot. The proposed object- tracking behavior is tested and verified on a two-wheeled soccer robot system with an omni-directional vision. Simulation and experimental results show that the developed controllers are well-designed for a two-wheeled robot to track an object in the soccer field.
|
|---|
