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研究生:張峰銘
論文名稱:自主式行動機器人研發
論文名稱(外文):Development of An Autonomous Mobile Robot
指導教授:王 銀 添
指導教授(外文):Yin-Tien Wang
學位類別:碩士
校院名稱:淡江大學
系所名稱:機械與機電工程學系
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2005
畢業學年度:93
語文別:中文
論文頁數:56
中文關鍵詞:行動機器人影像處理路徑控制
外文關鍵詞:Autonomous RoboticImage ProcessingTracking Control
相關次數:
  • 被引用被引用:0
  • 點閱點閱:165
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  • 收藏至我的研究室書目清單書目收藏:1
本論文根據RoboCup規則發展一套自主式足球機器人系統,包括機器人機構設計、影像處理、PC-based路徑追蹤控制器規劃、與DSP驅動裝置製作等。機構方面,設計中型機器人本體、驅動系統、與氣壓式射門裝置。影像處理方面,分析全方位影像的投影原理,以及規劃以高次方程式模擬扭曲的影像,進行影像的還原。路徑追蹤控制方面,首先依據機器人在測試場地的相對位置,規劃機器人自我定位方式;再根據機器人的運動方程式,設計機器人的路徑追蹤控制器。整合的行動機器人系統則在規劃的機器人足球場地測試,實現本研究所提的影像處理與影像伺服控制方法,以達成機器人路徑追蹤控制。
An autonomous robotic system is developed in this thesis according to the rules of RoboCup middle-size soccer robots, including mechanism design, image processing, and design of a PC-based controller and a DSP-based drive. In mechanism design, the structure of the middle-size robot, the power drive, and a pneumatic shooting device are implemented. In image processing, the projection of an omni-directional vision is investigated and modeled by a high-order equation. The distorted image is recovered by utilizing the inversion of the high-order equation. In controller design, the procedure of self-localization is formulated according to the relative position of the robot in the soccer field. Furthermore, a tracking controller is designed by using the kinematics equation of the mobile robot. The integrated mobile robot system is tested on a resized soccer field, and the proposed methodologies for image processing and visual serving control are applied to accomplish the task of robot tracking control.
第一章 序論
1.1 研究動機與目的
1.2 文獻探討
1.3 研究範圍
第二章 機器人視覺伺服控制
2.1 機器人路徑追蹤控制
2.2 全方位視覺
2.3 自我定位
第三章 機器人系統架構
3.1 機器人本體機構設計
3.2 動力設計
3.3 射門機構設計
3.4 全方位視覺系統
3.5 PC-based控制系統
3.6 DSP驅動系統
3.7 DA模組
3.8 傳輸命令格式設計
3.9 DSP程式設計
3.10人機介面設計
第四章 實測與結果分析
4.1影像廣角效應校正
4.2鏡頭歪斜校正
4.3範例一:先廣角效應校正再鏡頭歪斜校正
4.4範例二:先鏡頭歪斜校正再廣角效應校正
4.5範例三:影像還原
4.6機器人追蹤物件實測
第五章 結果討論與未來方向
5.1 結果討論
5.2 未來方向
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