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URN etd-0829112-140114 Statistics This thesis had been viewed 1655 times. Download 390 times. Author Hsuan-Yi Chen Author's Email Address No Public. Department Electrical Engineering Year 2011 Semester 2 Degree Master Type of Document Master's Thesis Language English Page Count 53 Title TRACKING PATH STRATEGY OF A WHEELED MOBILE ROBOT BASED ON IMAGE RECOGNITION Keyword tracking fuzzy controller image WMR WMR image fuzzy controller tracking Abstract The main purpose of this thesis establishes the tracking path of a wheeled mobile robot (WMR) which is based on image processing. The structures are integrated by four parts. They are image processing algorithm, fuzzy control algorithm, micro-processing and drive control system, and wireless fidelity (Wi-Fi), where the first two parts are setup on PC or NB and the rest are on WMR. The advantages of calculation image processing algorithm and fuzzy control algorithms on PC by Wi-Fi are that it can decrease the quantities of data interchange and reduce the computational load on the micro-processing system. The core of the thesis is image processing and fuzzy control design. The image processing captures the center of gravity coordinates of ground path by the Connected-Component Labeling of the captured image. Then, we can obtain the relationship between actual distance from path and Euclidean distance through Curve Fitting. Using fuzzy control design, the deviation between the position of WMR and the coordinates of the center of ground path can be reduced, and the speed and direction of the WMR for tracking ground path can be achieved. Experimental results show that the proposed control schemes are feasible. Advisor Committee Wen-Shyong Yu - advisor
Chih-Lyang Hwang - co-chair
Min-Guo Her - co-chair
Files Date of Defense 2012-07-31 Date of Submission 2012-08-29