Journal of Applied Science and Engineering

Published by Tamkang University Press

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Yin-Tien Wang This email address is being protected from spambots. You need JavaScript enabled to view it.1, Yu-Cheng Chen1 and Ming-Chun Lin2

1Department of Mechanical and Electro-Mechanical Engineering, Tamkang University, Tamsui, Taiwan 251, R.O.C.
2Department of Electrical Engineering, Technology and Science Institute of Northern Taiwan, Taipei, Taiwan, R.O.C.


 

Received: February 15, 2009
Accepted: March 3, 2009
Publication Date: September 1, 2009

Download Citation: ||https://doi.org/10.6180/jase.2009.12.3.13  


ABSTRACT


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.


Keywords: Mobile Robot, Object Tracking, Motion Control, Programmable Interface Controller (PIC), Real-Time Implementation


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