Multiple Mobile Vehicles Control Based On Real-time Image

• Main Authors: Chun-Wei, Peng, 彭俊維
• Other Authors: 姚立德
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/vs76ed

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.