Line Tracking and Remote Control for a Mobile Robot Based on Embedded Linux Environment
碩士 === 國立臺灣科技大學 === 電機工程系 === 106 === In this thesis a mobile robot , which is based on the embedded Linux environment, has two main functions: trajectory tracking and remote monitoring. In the mobile robot tracking system, the error between the mobile robot and the ground trajectory can be obtained...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2018
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| Online Access: | http://ndltd.ncl.edu.tw/handle/et3368 |
| Summary: | 碩士 === 國立臺灣科技大學 === 電機工程系 === 106 === In this thesis a mobile robot , which is based on the embedded Linux environment, has two main functions: trajectory tracking and remote monitoring. In the mobile robot tracking system, the error between the mobile robot and the ground trajectory can be obtained by the camera through simple image processing technology, then the appropriate current commands of the left and right wheels are calculated. The mobile robot is equipped with a laser sensor and a 9-axis sensor to assist the mobile robot to avoid walls or obstacles near the tracking trajectory. In the mobile robot wireless remote control and monitoring system, data protection is through the AES encryption system and WebSocket Server is used to receive commands. The Mobile robot can moves only by remote commands when it is controlled on the remote site. When monitoring the mobile robot, it constantly captures images and displays images on the webpage to achieve the goal of real-time monitoring.
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