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 |
文件中的檔案:
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ce07ics002008000164.pdf | 294.85 kB | Adobe PDF | 檢視/開啟 |
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