| Summary: | 碩士 === 大同大學 === 電機工程學系(所) === 99 === In this thesis, a switching control strategy is proposed for mobile robots to serve as a guiding or following one. Two mobile robots, X80 and i90, are used for experiments. Each mobile robot is setup with a single eye camera to capture the image of the guiding mobile robot or obstacle. The image is turned into a gray form, and then to the gradient for each point of each level of Gaussian pyramid to estimate the motion parameters (disturbance) between two robots. Two successive images are used to catch the moving object to estimate or recognize the foreground. By calculating the gravity of the moving object, the following mobile robot will follow the guiding one. On the contrary, the following mobile robot turns to serve as a guiding mobile robot when there is no gravity to follow. The infrared sensor is used to sense whether the obstacle exists on the guiding trajectory or not. If there is an obstacle, we will use image binarization of red color to get the gravity of the obstacle, and do the collision-free path. By checking arriving the destination or not, the mobile robot will be stopped or keep going until the final destination is achieved. Finally, the experimental results will be used to show the effectiveness of the proposed method.
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