The design and implement of a Line Tracer Autonomous Mobile Robot with vision guidance

• Main Authors: Chian-Hua Wu, 吳建樺
• Other Authors: Jeng-Kuang Hwang
• Format: Others
• Language: zh-TW
• Online Access: http://ndltd.ncl.edu.tw/handle/87526653503843159799

碩士 === 東南科技大學 === 機電整合研究所 === 98 === The objective of this thesis is to design a line tracing autonomous mobile robot (AMR) with vision guidance, and to use an embedded microcontroller PIC16F88 to implement AMR control. The vehicle of the system consists of two drive wheels, one auxiliary wheel and a long flat piece of wood. There are two DC geared motors to drive the wheels of mobile robot. With TA7291P bridge driver IC, the microcontroller controls the rotational speed and direction of motors. The motor speed control method is pulse width modulation technique. There are two CC2500 transceivers to provide wireless communication interface between PC and AMR. The embedded microcontroller PIC16F887 integrates motor control, wireless and wire communication. First of all is using camera to capture the image and transmits it to PC by wireless interface. We calculate vector parameters of black guided line on PC with the digital image process techniques, after that we can find rotational speed and direction parameters from vector parameters and transmit them back to AMR by wireless interface. According to the parameters, the microcontroller controls the speed and different speed of two motors automatically, that can make the AMR to track the guided line.