碩士 / 國立成功大學 / 電機工程學系 / 87 / The thesis applies the visual servoing concept to the navigation and control of a nonholonomic ground vehicle. The task of navigation, guidance, and control of mobile vehicles were traditionally designed separately. The thesis attempts to combine the image acquisition, image processing, tracking command generation, and control design into the same visual servoing framework in which the raw image is processed and used directly to provide feedback information. The control system is designed to account for the nonholonomic constraints imposed by the vehicle as well as the varying curvature of the track to follow. The visual servoing design is simulated in a virtual reality system to show the feasibility of the proposed approach. Stability and tracking convergence of the design are demonstrated.
| Identifer | oai:union.ndltd.org:TW/087NCKU0442115 |
| Date | January 1999 |
| Creators | Yu-Juw Ho, 侯雨助 |
| Contributors | Jyh-Ching Juang, 莊智清 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 85 |
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