| Summary: | 碩士 === 國立臺北科技大學 === 機電整合研究所 === 96 === In respect of the multiple mobile vehicles control system, this thesis utilizes a
following control system which can help to maintain a certain distance and fixed angle
between two sequent cars, and therefore achieve the purpose of multi-vehicle
integrated control. As long as some pieces of information regarding the preceding car
and following car are obtained, this following control mathematical model can
calculate the relative control volume. For identifying the information of preceding car,
this thesis utilizes CMOS image sensor module, collocated with self-made LED lights,
to calculate the relative distance and position by image-based measuring. This method
only utilizes some formulas to calculate the relative distance, relative angle and
relative head angle instead of any sophisticated pattern recognition approach.
Furthermore, the mentioned mathematical control model can let the following car
smoothly pursue after the preceding car in moving, and achieve the expectation of
multi-vehicle formation control in accordance with the given conditions. Finally, the
feasibility of contents in this thesis will be proved through practical experiments.
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