碩士 / 國立臺灣海洋大學 / 電機工程學系 / 99 / The purpose of this thesis is to design a fish-like underwater autonomous mobile device with detection capability. The robot fish mainly consists of body module and tail module. The body module is designed and shaped with transparent acrylic material, and the tail is actuated by an ABS-plastic-wrapped servo motor. The circuits inside robot fish are coordinated by AT89S51 including RF wireless transmission module, wireless cameras, infrared sensor modules and motor-driving circuits. Using the sensor information, the robot fish can detect obstacles and avoid collision. Furthermore, with the camera image, the robot fish can find the target and track it.
The robot fish can be operated in two modes. Mode 1 is the “remote mode”, users can manipulate the robot fish via a human-computer interface to control its movements, for example, heading ahead, turning left or right, and floating up and down. Mode 2 is the “self-wisdom mode", the sensor information will be processed and used to determine the robot behavior and moving trajectory autonomously.
| Identifer | oai:union.ndltd.org:TW/099NTOU5442079 |
| Date | January 2011 |
| Creators | Po-Chi Wu, 伍柏錡 |
| Contributors | Chih-Yung Cheng, 鄭智湧 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 77 |
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