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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/52428

    Title: 以機器視覺為基礎實現自走車車道追跡系統
    Other Titles: Vision-based lane tracking system for autonomous mobile robot
    Authors: 林伯彥;Lin, Po-yen
    Contributors: 淡江大學機械與機電工程學系碩士班
    Keywords: 車道追跡;機器視覺;階層式模糊系統;Lane tracking;Machine vision;hierarchical fuzzy system
    Date: 2010
    Issue Date: 2010-09-23 17:40:16 (UTC+8)
    Abstract: 本論文的主要研究方向就是把即時影像處理技術應用在車道線的偵測,並將車道與車子的相關資訊回授給系統控制器以控制前輪的轉向,進而實現自走車車道保持與追跡的功能。
    This paper performs a vision-based lane tracking system for the autonomous mobile robot. We take the camera on mobile robot as the sensor to get real-time road images. The lane markings in images are extracted by specifying ROI (Region of Interest), Sobel edge detection, Hough transform and real-time image processing algorithm. Then the autonomous mobile robot will move following the lane markings using fuzzy control. In this fuzzy controller, the input variables are the derivative of lane direction, the deviation between lane center and mobile robot, and its change rate, since the sensor-less steering motor is adopted. For the traditional fuzzy control system, three input variables will lead to a large number of fuzzy rules. The hierarchical fuzzy system is utilized to reduce the fuzzy rules and the computing burden. Experimental results show the effectiveness of the proposed lane tracking system.
    Appears in Collections:[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Thesis

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