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研究生:鄭婷涓
論文名稱:以二維影像定位系統進行全向輪自走車之運動控制
論文名稱(外文):A Motion-Control of an Omni-Wheel Robot by a 2-D Image Positioning System
指導教授:陳孝武
口試委員:黃榮興林君明
口試日期:2013-06-21
學位類別:碩士
校院名稱:逢甲大學
系所名稱:自動控制工程學系
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2014
畢業學年度:102
語文別:中文
論文頁數:50
中文關鍵詞:全向輪影像處理
相關次數:
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本論文主要研究如何利用影像迴授控制,減少全向輪行走時所產生的滑動現象,進而達到精確操控的目的。CCD攝影機主要執行空間定位的工作,提供全向輪與環境間的位置關係資訊。整體架構分為全向輪部分與影像處理部分,將此二個部分與電腦端做整合,透過CCD攝影機對電腦端輸入所擷取到的資料,藉由攝影機的即時監控對全向輪的位置做回授,以改善滑動偏移的現象。
The main purpose of this study is using image feedback control to reduce the slippage when the Omni-wheel robot was operated; thus achieving the purpose of accurate operating. The main job that Charge Coupled Device camera does is spatial positioning and offers the information about the relationship between Omni-wheel robot and environment. On the whole, it could be Omni-wheel robot parts and image processing parts and connect with computer terminal. Entering the images that captured by Charge Coupled Device camera into computer then do the feedback for the position of Omni-wheel robot by real-time monitoring camera, reducing the slippage phenomenon
中文摘要 i
Abstract ii
目錄 iii
圖目錄 v
表目錄 vii
第一章 緒論 1
1.1 研究背景及動機 1
1.2 研究目的 1
1.3 國內外相關研究 2
1.4 本文結構 3
第二章 系統架構與設計 5
2.1 全向輪介紹 5
2.1.1 車體架構 5
2.1.2 Ardiuno 7
2.1.3 全向輪馬達 10
2.2 影像平台介紹 10
2.2.1 影像平台 10
2.2.2 CCD攝影機規格介紹 11
2.2.3 影像處理程式介紹 13
第三章 研究方法 14
3.1 全向輪運動原理介紹 14
3.2 影像處理 20
3.3 影像校正-Camera Calibration Toolbox for Matlab 22
第四章 實驗的模擬與結果 26
4.1 校正內部參數 26
4.2 校正外部參數 30
4.3 全向輪自走車測試 32
第五章 結論與未來展望 39
5.1 結論 39
5.2 未來展望 39
參考文獻 40
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