| Dynamic Object Tracking Control for a Non-Holonomic Wheeled Autonomous Robot | |
|---|---|
| 學年 | 98 |
| 學期 | 1 |
| 出版（發表）日期 | 2009-09-01 |
| 作品名稱 | Dynamic Object Tracking Control for a Non-Holonomic Wheeled Autonomous Robot |
| 作品名稱（其他語言） | |
| 著者 | Wang, Yin-Tien; Chen, Yu-Cheng; Lin, Ming-Chun |
| 單位 | 淡江大學機械與機電工程學系 |
| 出版者 | 臺北縣：淡江大學 |
| 著錄名稱、卷期、頁數 | 淡江理工學刊=Tamkang Journal of Science and Engineering 12(3)，頁339-350 |
| 摘要 | This paper is devoted to design and implement a non-holonomic wheeled mobile robot that possesses dynamic object-tracking capability by using real-time image processing. Two motion control laws are proposed using Lyapunov’s direct method and computed-torque method. Simulation results illustrate the effectiveness of the developed schemes. The overall experimental setup of the mobile robot developed in this paper is composed of a Windows based personal computer, Programmable Interface Controllers, a mobile robot, and an omni-directional vision system. Finally, the image-based real-time implementation experiments of the mobile robot demonstrate the feasibility and effectiveness of the proposed schemes. |
| 關鍵字 | Mobile Robot;Object Tracking;Motion Control;Programmable Interface Controller(PIC);Real-Time Implementation |
| 語言 | en |
| ISSN | 1560-6686 |
| 期刊性質 | 國際 |
| 收錄於 | EI |
| 產學合作 | |
| 通訊作者 | Wang, Yin-Tien |
| 審稿制度 | |
| 國別 | TWN |
| 公開徵稿 | |
| 出版型式 | 電子版 紙本 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/52797 ) |
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