本研究針對具備全方位視覺的兩輪行動機器人，規劃物件追蹤行為。首先，利用Lagrange形式推導機器人動態模式。選擇馬達扭力為系統的輸入變數，以改善控制器的動態特性。其次，使用Lyapunov直接方法(Lyapunov’s direct method)與逆動力學控制(inverse dynamics control)，分別由系統穩定與單位質量控制的概念，設計兩種機器人的運動控制器。最後，利用這兩種控制器的特性，規劃兩輪機器人的物件追蹤行為。本論文將規劃的物件追蹤控制器應用在配備全方位視覺的兩輪足球機器人系統。模擬與實測的結果顯示，所規劃的控制器可以提供兩輪機器人進行物件追蹤功能。 An object-tracking behavior is designed in this thesis for a two-wheeled mobile robot with omni-directional vision. Firstly, the robot dynamics model is derived by using Lagrange formulation. In the dynamics model, the motor-driven torques are chosen as input variables of the system in order to improve the dynamic characteristic of the controller. Secondly, on the basis of Lyapunov’s direct method and inverse dynamics control, two robot motion controllers are deduced from the concepts of the system stability and the unit-mass control, respectively. Finally, utilize the specific functions of these two controllers to develop an object-tracking behavior for a mobile robot. The proposed object- tracking behavior is tested and verified on a two-wheeled soccer robot system with an omni-directional vision. Simulation and experimental results show that the developed controllers are well-designed for a two-wheeled robot to track an object in the soccer field.
