1 / 17

控制原理報告 Image Tracking and Anti-Collision System for the WMR Using Fuzzy Controllers

控制原理報告 Image Tracking and Anti-Collision System for the WMR Using Fuzzy Controllers. 指導教授：曾慶耀 教授 學生：莊世耀 學號： M98670036. Abstract. This paper proposes the design of fuzzy logic controllers to revolve a wheeled mobile robot (WMR) through

mina
Download Presentation

控制原理報告 Image Tracking and Anti-Collision System for the WMR Using Fuzzy Controllers

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. 控制原理報告 Image Tracking and Anti-Collision System for the WMR Using Fuzzy Controllers 指導教授：曾慶耀 教授 學生：莊世耀 學號：M98670036

  2. Abstract • This paper proposes the design of fuzzy logic • controllers to revolve a wheeled mobile robot (WMR) through • digital images, and the design of WMR anti-collision system. • After the image processing, the authors utilize the center of • object image to design the fuzzy logic controllers that incorporate • expert knowledge in terms of 9 linguistic rules to drive the WMR • to revolve. By the way, the WMR can execute auto moving and • anti-collision via infrared sensors. The program codes of fuzzy • logic controllers are implemented on a PC which could send all • the motion commands to the WMR by wireless communication.

  3. Structure of Robot 190.

  4. Movement Equations

  5. Flow chart of image processing

  6. Fuzzy Figure1 、Membership functions of object centerFigure 2、 Membership functions of center errorFigure 3、 Membership functions of WMR velocity Figure1 Figure3 Figure2

  7. Fuzzy rules TABLE

  8. Anti-collision flow chart

  9. Photo of the robot 190 Front panel of the human-machine interface.

  10. Image processing

  11. Image tracking at start

  12. Image tracking on completion

  13. Anti-collision experiment

  14. CONCLUSIONS • This paper proposes the design of image tracking and anticollision • system for a wheeled mobile robot. The fuzzy logic • controllers are applied to track the object. Experiment results • demonstrate the effectiveness of the design.

  15. REFERENCES • [I] Bloch, A. M., and S. Drakunov. Tracking in nonholonomic dynamic • system via sliding modes. In Pro. 34th IEEE Con/Decision Contr .. , • pages 2103-2106, New Orleans, La, • [2] Liu, K. Z., and T. Kanahara. Steering control of vehicles by • discontinuous control approach. In Proc. Amer. Contr. Conf, pages • 1521-1526, Arlington, 200 I. • [3] C. Samson. Application to path following and time-varying point • stabilization of mobile robots. IEEE Trans. Automat. Contr., 40:64-77, • 1995. • [4] Oriolo, G., A. D. Luca, and M. Vendittelli. Wmr control via dynamic • feedback linearization: Design, implementation and experimental • validation. IEEE Trans. Syst. Technology, 10(6):835-852,2002. • [5] Fliess, M., J. Levine, P. Martin, and P. Rouchon. Design of trajectory • stabilizing feedback for driftless flat systems. In Proc. 3rd European • Control Conference ECC'95, pages 1882-1887, 1995.

  16. REFERENCES • [6] Fierro, R. A. K. Das, V. Kumar, and J. P. Ostrowski. Hybrid control of • formations of robots. In Proc. IEEE International Conference on • Robotics and Automation, pages 157-162, Seoul, Korea, 200 I. • [7] Fukaya Kenta, Yasuhisa Hirata, ZhiDong Wang and Kazuhiro Kosuge, • "Design and Control of A Passive Mobile Robot System for Object • Transportation," Proceedings of the 2006 IEEE International Conference • on Mechatronics and Automation, June 25-28, 2008 . • [8] Dr. Robot Networks Available: http://www.drrobot.com/ • [9] Yi Hsueh Lee and JyhChingJuang, Development of an RF-Vision • Positioning Algorithm, National Cheng Kung University, 2009. • [10] Shau-dong Ren and Ching-Long Shih, A Mobile Robot with Stereo • vision Range Estimation, National Taiwan University of Science and • Technology, 95.

  17. 謝謝聆聽

More Related