The Design of Vision-Based Backing-Up Control System of an Autonomous Mobile Robot

• Main Authors: Kuan-Hua Su, 蘇冠樺
• Other Authors: Chao-Shu Liu
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/32633104946416251296

碩士 === 國立高雄應用科技大學 === 機械與精密工程研究所 === 100 === In this thesis, we use the CCD (Charge Coupled Device) to capture images by USB(Universal Serial Bus) interface and use them to identify the coordinates and the car swing angle , send the command to the microcontroller to activate the autonomous mobile robot . The processing and correction of target coordinates and angles were done in C# -language programs with our control strategy so that autonomous mobile robot can effectively back up . So far , common backing-up is to capture images by video capture card .In terms of sensor ,using infrared、ultrasound、buried sensor to achieve the backing-up control. In the simulation, the motion analyzing of the autonomous mobile robot motion based on P and Fuzzy P controller was done by MATLAB / SIMULINK software . In the image processing , we use C # to create a man-machine interface with the RS232 protocol to send control commands , utilizing CCD to capture and returned autonomous mobile robot coordinates and direction angle . In terms of hardware , the hardware includes a serial port unit , the power conversion unit , LCD display unit , stepper motor drive unit (drive and steering) . In the steering part , the Ackerman steering principle for the current car used in the steering system , but this production manufacture requires a huge cost, so the concept of a "T" type , to achieve a steering effect . In this thesis we have built an automatic backing-up system with feedback control achieved by the CCD camera . The proposed method can achieve the cost-down of product development , more practical applications , and the convenience for exhaustive research.