| Summary: | 碩士 === 大同大學 === 電機工程學系(所) === 97 === In this thesis, an algorithm for achieving obstacle recognition, motion planning, and trajectory tracking via a single-eye camera is proposed for the remote mobile robot via wireless connection. The single-eye camera is used to capture the environmental image and to recognize the obstacle image to construct the ellipse and to plan the collision-free path. Since it is hard to determine how far the distance from the mobile robot to the obstacle object using a single-eye camera by the stereo image technology, we use the ratio of the obstacle images from far to near to evaluate the distance to and width of the obstacle approximately. As an obstacle object is recognized by the active-vision of the mobile robot, a collision-free path planning is constructed based on the tangent line of an ellipse and edge feature of the obstacle image. Hence, an obstacle-covering ellipse is formed according to the largest width of the obstacle object and the distance to the lane edge from the part of the obstacle depth. Then, when the mobile robot drives along the tangent line of the ellipse to the side of the obstacle, it continues to judge if the path established by the initial ellipse is collision free. If not, a further obstacle-covering ellipse should be constructed until the path is collision free, and then the mobile robot keeps moving along the adapted tangent line of the ellipse. Finally, we demonstrate the validity of the proposed algorithm by experiments.
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