Study of Fuzzy Decision Tree Method and Integrated Data Control Law Applied to Robot Car Road Tracking Mission

• Main Authors: Wei-ChenChen, 陳韋辰
• Other Authors: Yiing-Yuh Lin
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/06689146159783061863

碩士 === 國立成功大學 === 航空太空工程學系碩博士班 === 98 === The objective of the research is to design a three-wheeled robot car, which can stay on the guide rail and track a moving target with particular color on the horizontal road-block surface. Three major parts are included in designed system. Part 1 is remote monitoring unit, consisting of a personal computer (PC), robot car command controller, and data transmission devices linking to the mobile robot, which receives target image through radio signals from and sends out tracking commands to the robot car. Part 2 is the image processing unit, consisting of CCD camera on the robot car and a set of image processing software located in the PC, which takes in target images and evaluate target color, shape and center as input to the command controller. Part 3 is the mobile robot unit which has its own on-board processor and acts according to the tracking commands using its infrared sensors to maintain on the guide rail, aiming CCD camera toward the target by rotating the camera holding platform on the robot car, and closing into the moving target by varying the speed of its two rear driving wheels. The tracking controller in the PC is formulated with fuzzy logic integrated with decision tree takes in target image info and produces tracking and following commands to the robot car. 3 basic tracking modes representing most of the situations and one general situation are included and the results of the experiments indicated that the objective of the study can successfully achieve.