教師資料查詢 | 類別: 期刊論文 | 教師: 王銀添 Wang Yin-tien (瀏覽個人網頁)

標題:Dynamic Object Tracking Control for a Non-Holonomic Wheeled Autonomous Robot
學年98
學期1
出版(發表)日期2009/09/01
作品名稱Dynamic Object Tracking Control for a Non-Holonomic Wheeled Autonomous Robot
作品名稱(其他語言)
著者Wang, Yin-Tien; Chen, Yu-Cheng; Lin, Ming-Chun
單位淡江大學機械與機電工程學系
出版者臺北縣淡江大學
著錄名稱、卷期、頁數淡江理工學刊=Tamkang Journal of Science and Engineering 12(3)頁339-350
摘要This paper is devoted to design and implement a non-holonomic wheeled mobile robot that possesses dynamic object-tracking capability by using real-time image processing. Two motion control laws are proposed using Lyapunov’s direct method and computed-torque method. Simulation results illustrate the effectiveness of the developed schemes. The overall experimental setup of the mobile robot developed in this paper is composed of a Windows based personal computer, Programmable Interface Controllers, a mobile robot, and an omni-directional vision system. Finally, the image-based real-time implementation experiments of the mobile robot demonstrate the feasibility and effectiveness of the proposed schemes.
關鍵字Mobile Robot;Object Tracking;Motion Control;Programmable Interface Controller(PIC);Real-Time Implementation
語言英文
ISSN1560-6686
期刊性質國際
收錄於EI
產學合作
通訊作者Wang, Yin-Tien
審稿制度
國別中華民國
公開徵稿
出版型式電子版;紙本
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