博碩士論文 965201092 完整後設資料紀錄

DC 欄位	值	語言
DC.contributor	電機工程學系	zh_TW
DC.creator	丁彥智	zh_TW
DC.creator	Yan-zhi Ding	en_US
dc.date.accessioned	2009-7-3T07:39:07Z
dc.date.available	2009-7-3T07:39:07Z
dc.date.issued	2009
dc.identifier.uri	http://ir.lib.ncu.edu.tw:444/thesis/view_etd.asp?URN=965201092
dc.contributor.department	電機工程學系	zh_TW
DC.description	國立中央大學	zh_TW
DC.description	National Central University	en_US
dc.description.abstract	本篇論文主要是設計與製作一部智慧型輪型機器人，可以自動辨識並撿拾乒乓球。此機器人利用影像處理技術及馬達控制的技術來實現以上功能功能。首先根據從攝影機所得到的顏色資料讓機器人找尋乒乓球，再計算出乒乓球的中心位置，使得機器人可以往乒乓球方向前進，然後撿拾起該球。當完成任務後機器人還會自動歸位。馬達驅動的模糊控制、搜尋球的機制、避障機制以及回歸放球的機制均再本論文中實現。最後根據機器人的數學模型，設計線性控制方法，再使用MATLAB來進行模擬，以比較馬達驅動線性控制與模糊控制的性能，模擬結果證實模糊控制是比線性控制具有較佳的控制效果。	zh_TW
dc.description.abstract	This thesis designs an intelligent mobile robot that can recognize and collect ping-pong balls automatically. The main techniques on the robot include image processing and motor control. According to the color data of the image getting from the webcam, the robot can find the ping-pong balls. Then, the center location of the ping-pong ball is calculated such that the robot can go forward to the ping-pong ball and pick up it. After the task is completed, the robot will return to the location of ball collection station. The robot moving is based on the motor driving and the motor driving control is based on the fuzzy control techniques to achieve ball searching, obstacle avoidance, and returning to the collection box. Furthermore, the simulation results of the linear controller and fuzzy controller for the robot moving control are compared; it is seen that the fuzzy controller has much better performance than the linear controller.	en_US
DC.subject	智慧型	zh_TW
DC.subject	乒乓球	zh_TW
DC.subject	影像處理	zh_TW
DC.subject	intelligent	en_US
DC.subject	ping-pong balls	en_US
DC.subject	image processing	en_US
DC.title	智慧型撿乒乓球機	zh_TW
dc.language.iso	zh-TW	zh-TW
DC.title	The Intelligent Ping Pong Balls Collector	en_US
DC.type	博碩士論文	zh_TW
DC.type	thesis	en_US
DC.publisher	National Central University	en_US