Design and Implementation of A Real-time Vision-based Intelligent AMR Back-up Control System

• Main Authors: Kai-Ren Shih, 施凱仁
• Other Authors: Tzuu-Hseng S. Li
• Format: Others
• Language: zh-TW
• Published: 1999
• Online Access: http://ndltd.ncl.edu.tw/handle/75755769694134803917

碩士 === 國立成功大學 === 電機工程學系 === 87 === This thesis presents the design and implementation of the real-time vision-based intelligent back-up control system by using the autonomous mobile robot (AMR). At first, we address in detail the hardware setup of the PC-based model car, the wireless communication system, and the image processing positioning system. Secondly, we propose two intelligent back-up control techniques on the basis of the fuzzy set theory. The purpose of the first control method is to make the developed model car park in the garage appropriately and automatically from any initial locations. Taking account of practical situations and human experiments, we provide a modified method of the first one. The second control scheme is step-by-step to track a reference trajectory for the back-up control problem. Both computer simulations and experimental results demonstrate the feasibility of the proposed real-time vision-based AMR back-up control system. All the practical experiments are also recorded on videotape.