題名: Object Tracking Control for an Autonomous Robot System
作者: Lin, Ming-Chun
Hsieh, Jui-Jen
Wang, Yin-Tien
關鍵字: Mobile robot
Object tracking
Motion control
Programmable Interface Controller (PIC)
Real-time implementation
期刊名/會議名稱: 2008 ICS會議
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 by 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. The image-based and real-time implementation of the mobile robot demonstrates the feasibility and effectiveness of the proposal schemes.
日期: 2009-02-12T08:48:49Z
分類:2008年 ICS 國際計算機會議

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