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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/52797


    Title: Dynamic Object Tracking Control for a Non-Holonomic Wheeled Autonomous Robot
    Authors: Wang, Yin-Tien;Chen, Yu-Cheng;Lin, Ming-Chun
    Contributors: 淡江大學機械與機電工程學系
    Keywords: Mobile Robot;Object Tracking;Motion Control;Programmable Interface Controller(PIC);Real-Time Implementation
    Date: 2009-09
    Issue Date: 2010-12-01 10:32:17 (UTC+8)
    Publisher: 臺北縣:淡江大學
    Abstract: 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.
    Relation: 淡江理工學刊=Tamkang Journal of Science and Engineering 12(3),頁339-350
    DOI: 10.6180/jase.2009.12.3.13
    Appears in Collections:[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Journal Article

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