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URN etd-0818106-175459 Statistics This thesis had been viewed 2888 times. Download 422 times. Author Chin-Yan Shih Author's Email Address No Public. Department Mechanical Engineering Year 2005 Semester 1 Degree Master Type of Document Master's Thesis Language English Page Count 82 Title Distributed Active-Vision Network-Space Approach for Trajectory Tracking and Obstacle Avoidance of a Car-Like Wheeled Robot Keyword Multi-processor. Network space Wheeled robot Trajectory tracking Obstacle avoidance Fuzzy variable structure decentralized control Active vision system Active vision system Fuzzy variable structure decentralized control Obstacle avoidance Trajectory tracking Wheeled robot Network space Multi-processor. Abstract Abstract -- In this thesis, the trajectory tracking of line segments and the obstacle avoidance for a wheeled robot within distributed active-vision network-space via fuzzy variable structure decentralized control (FVSDC) is developed. To implement trajectory tracking and obstacle avoidance, two distributed wireless CCD (charge-coupled device) cameras individually driven by two stepping motors, i.e., active CCD1 and CCD2 (or ACCD1 and ACCD2), are set up to capture the dynamic position of the wheeled robot or obstacle. The proposed control system includes quad-processors with multiple sampling rates. One personal computer is first employed to receive the image of the wheeled robot and the obstacle from ACCD1 or ACCD2 by wireless transmitter, and then to plan three reference commands for the wheeled robot, ACCD1, and ACCD2. The image processing and calibration between the world coordinate and the image plane coordinate by using multilayer perceptrons are also established. These three reference commands are transmitted by a wireless device on personal computer and received by the other three wireless devices on the wheeled robot, ACCD1, and ACCD2. The second, third and fourth processors are individually used a DSP TMS320LF2407 of TI Co. to control two DC motors of wheeled robot, two stepping motors of ACCD1, and two stepping motors of ACCD2. These two active-vision systems and the wheeled robot are controlled by three fuzzy variable structure decentralized controls (FVSDCs), two of them are in the PC and the other is in the DSP of the wheeled robot. Finally, a sequence of experiments is carried out to consolidate the performance of the proposed control system. Advisor Committee Chih-Lyang - advisor
none - co-chair
none - co-chair
Files Date of Defense 2006-07-31 Date of Submission 2006-08-21