| URN |
etd-0720110-195036 |
Statistics |
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|
| Author |
Chian-hua Wu |
| Author's Email Address |
gainwharwu@yahoo.com.tw |
| Department |
Institute of Mechatronic Engineering |
| Year |
2009 |
Semester |
2 |
| Degree |
Master |
Type of Document |
Master's Thesis |
| Language |
zh-TW.Big5 Chinese |
Page Count |
81 |
| Title |
The design and implement of a Line Tracer Autonomous Mobile Robot with vision guidance |
| Keyword |
Embedded Microcontroller
Pulse Width Modulation
Wireless Communication
Vision Guidance Autonomous Mobile Robot
Vision Guidance Autonomous Mobile Robot
Wireless Communication
Pulse Width Modulation
Embedded Microcontroller
|
| Abstract |
The objective of this thesis is to design a line tracing autonomous mobile robot (AMR) with vision guidance, and to use an embedded microcontroller PIC16F88 to implement AMR control. The vehicle of the system consists of two drive wheels, one auxiliary wheel and a long flat piece of wood. There are two DC geared motors to drive the wheels of mobile robot. With TA7291P bridge driver IC, the microcontroller controls the rotational speed and direction of motors. The motor speed control method is pulse width modulation technique. There are two CC2500 transceivers to provide wireless communication interface between PC and AMR. The embedded microcontroller PIC16F887 integrates motor control, wireless and wire communication. First of all is using camera to capture the image and transmits it to PC by wireless interface. We calculate vector parameters of black guided line on PC with the digital image process techniques, after that we can find rotational speed and direction parameters from vector parameters and transmit them back to AMR by wireless interface. According to the parameters, the microcontroller controls the speed and different speed of two motors automatically, that can make the AMR to track the guided line. |
| Advisor Committee |
Cheng-Kuang Huang - advisor
Ming-Huei Chu - co-chair
Tsai-Cheng Li - co-chair
|
| Files |
indicate in-campus access at one year and off-campus not accessible |
| Date of Defense |
2010-07-17 |
Date of Submission |
2010-07-29 |
