Chan Hung-Kwan. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2004. / Includes bibliographical references (leaves 100-101). / Abstracts in English and Chinese. / Abstract --- p.i / Acknowledgement --- p.iv / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Motivation --- p.1 / Chapter 1.2 --- Analysis of a tracking robot system: Challenges --- p.2 / Chapter 1.2.1 --- Vision approach: Detecting a moving ob- ject from a moving background in real-time --- p.2 / Chapter 1.2.2 --- Non-vision sensor approach: The determi- nation of the angle of the target --- p.3 / Chapter 1.2.3 --- Emitter-and-receiver approach --- p.4 / Chapter 2 --- Literature Review --- p.5 / Chapter 2.1 --- People Detection --- p.5 / Chapter 2.1.1 --- Background Subtraction --- p.5 / Chapter 2.1.2 --- Optical Flow --- p.6 / Chapter 2.2 --- Target Tracking Sensors --- p.7 / Chapter 3 --- Hardware and Software Architecture --- p.8 / Chapter 3.1 --- Camera --- p.8 / Chapter 3.2 --- Software --- p.8 / Chapter 3.3 --- Hardware --- p.9 / Chapter 3.4 --- Interface --- p.12 / Chapter 3.5 --- The USB Remote Controller --- p.12 / Chapter 4 --- Vision --- p.17 / Chapter 4.1 --- Vision Challenges --- p.17 / Chapter 4.1.1 --- Detecting a moving object from a moving background --- p.17 / Chapter 4.1.2 --- High-speed in real-time --- p.19 / Chapter 4.2 --- Leg Tracking by Binary Image --- p.19 / Chapter 4.3 --- Algorithm --- p.20 / Chapter 4.4 --- Advantages --- p.22 / Chapter 4.5 --- Limitations --- p.22 / Chapter 4.6 --- "Estimation of the distance, d, by vision" --- p.23 / Chapter 4.6.1 --- A more accurate version --- p.23 / Chapter 4.6.2 --- Inaccuracies --- p.25 / Chapter 4.7 --- Future Work: Estimation of the distance by both vision sensor and ultrasonic sensor --- p.25 / Chapter 4.7.1 --- Ruler-based Sensor Fusion --- p.26 / Chapter 4.7.2 --- Learning-based Sensor Fusion --- p.27 / Chapter 5 --- Control --- p.28 / Chapter 5.1 --- Control of the Camera --- p.28 / Chapter 5.1.1 --- "Estimation of the Angle, Ψ" --- p.29 / Chapter 5.2 --- Kinematic Modeling of the Robot --- p.30 / Chapter 5.3 --- The Time Derivatives of d and Ψ --- p.36 / Chapter 5.4 --- Control of the Robot --- p.38 / Chapter 5.5 --- Steering Angle and Overshooting --- p.41 / Chapter 5.5.1 --- Steering Angle Gain --- p.41 / Chapter 5.5.2 --- Small Gain --- p.41 / Chapter 6 --- Obstacle Avoidance --- p.43 / Chapter 6.1 --- Ultrasonic sensor configurations --- p.45 / Chapter 6.2 --- Approach of Control --- p.46 / Chapter 6.3 --- Algorithm --- p.49 / Chapter 6.4 --- Robot Travelling Distance Determination --- p.50 / Chapter 6.5 --- Experimental Result 1 --- p.53 / Chapter 6.6 --- Experimental Result 2 --- p.55 / Chapter 6.7 --- New ideas on the system --- p.57 / Chapter 7 --- Tracking Sensor --- p.60 / Chapter 7.1 --- Possible Methods --- p.61 / Chapter 7.1.1 --- Magnet and Compass --- p.61 / Chapter 7.1.2 --- LED --- p.61 / Chapter 7.1.3 --- Infra-red : Door Minder --- p.62 / Chapter 7.2 --- Rangefinders --- p.64 / Chapter 7.2.1 --- Configuration --- p.65 / Chapter 7.2.2 --- Algorithm --- p.67 / Chapter 7.2.3 --- Wireless Ultrasonic Emitter-receiver Pair . --- p.68 / Chapter 7.2.4 --- Omni-directional Emitter --- p.74 / Chapter 7.2.5 --- Experiments --- p.75 / Chapter 7.2.6 --- Future Work --- p.79 / Chapter 8 --- Experiments and Performance Analysis --- p.80 / Chapter 8.1 --- Experiments --- p.80 / Chapter 8.2 --- Current Performance of the Tracking Robot --- p.85 / Chapter 8.3 --- Considerations on the System Speed and Subsys- tem Speeds --- p.85 / Chapter 8.4 --- Driving and Steering work in the same time --- p.86 / Chapter 8.5 --- Steering Motor --- p.87 / Chapter 8.5.1 --- Encoders --- p.87 / Chapter 8.6 --- Driving Motor --- p.87 / Chapter 8.6.1 --- Speed --- p.87 / Chapter 8.6.2 --- Speed Range --- p.87 / Chapter 8.7 --- Communication of the Vision Part and Control Part --- p.88 / Chapter 9 --- Conclusion --- p.92 / Chapter 9.1 --- Contributions --- p.92 / Chapter 9.2 --- Future Work --- p.93 / Chapter A --- Mobile Robot Construction --- p.97 / Bibliography --- p.101
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_324719 |
| Date | January 2004 |
| Contributors | Chan, Hung-Kwan., Chinese University of Hong Kong Graduate School. Division of Automation and Computer-Aided Engineering. |
| Source Sets | The Chinese University of Hong Kong |
| Language | English, Chinese |
| Detected Language | English |
| Type | Text, bibliography |
| Format | print, iii, 101 leaves : ill. ; 30 cm. |
| Rights | Use of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/) |
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