Object Following Controller Design for a Four Wheel Independent Steering Automatic Guided Vehicle Using Kinect Camera Sensor
- Alternative Title
- 키넥트 카메라센서를 사용한 4륜 독립조정 무인차량용 물체추종 제어기 설계
- Abstract
- This thesis presents a development of a vision-based object following four wheel independent steering automatic guided vehicle (4WIS-AGV) system using Kinect camera sensor. To do this task, the following steps are executed. Firstly, a 4WIS-AGV is designed and developed for experimental purpose. Each wheel has one driving DC motor and one steering DC motor. As a result, it can move in any direction in its environment. Secondly, a system kinematic modeling is described to understand the behavior of the 4WIS-AGV system and a moving candidate object. Thirdly, a candidate blue colored object is detected using Kinect camera sensor. A color-based object detection algorithm is used to obtain the center position coordinate of the moving candidate object inside the Kinect RGB data. Fourthly, the laser navigation system NAV-200 is used to obtain the global center position of the detected candidate object and the 4WIS-AGV. Industrial PC TANK-800 is used as the main controller for all the calculation of the controller and collecting data from positioning sensors. Fifthly, a Kalman filter algorithm is used to estimate the exact global center position coordinate of the detected moving object. Sixthly, a backstepping controller based on Lyapunov stability theory is designed for the 4WIS-AGV with Kinect camera sensor and laser navigation system NAV-200 to achieve an object following task with keeping a given constant safe distance between the moving candidate object and the 4WIS-AGV. Finally, the simulation and experimental are conducted to verify the effectiveness and performance of the proposed control algorithm for following the moving candidate object in both rotational and straight followings of the 4WIS-AGV. The results show that the proposed controller makes the 4WIS-AGV to follow the detected moving object well with keeping a given constant safe distance from the moving candidate object within an acceptable error.
- Issued Date
- 2016
- Awarded Date
- 2016. 2
- Type
- Dissertation
- Publisher
- 부경대학교 대학원
- Alternative Author(s)
- 정성곤
- Affiliation
- 부경대학교 대학원
- Department
- 대학원 메카트로닉스공학협동과정
- Advisor
- 김상봉
- Table Of Contents
- Contents
Acknowledgements
Contents i
Abstract iii
List of Figures vi
List of Tables viii
Chapter 1: Introduction 1
1.1 Background and motivation 1
1.2 Problem statements 7
1.3 Objective and research method 8
1.4 Outline of thesis and summary of contributions 11
Chapter 2: System Description and Modeling 14
2.1 Basic terminologies and equations 14
2.2 Four wheel steering maneuvers 20
2.2.1 Parallel steering maneuver 20
2.2.2 Zero-sideslip maneuvers 22
2.3 Kinecmatic modeling of the 4WIS-AGV system 24
Chapter 3: Hardware Structure of 4WIS-AGV 28
3.1 AGV system 28
3.1.1 Mechanical part design 30
3.1.1.1 Body configuration 30
3.1.1.2 Wheel configuration 33
3.1.2 Electrical design 38
3.1.2.1 DC motors 39
3.1.2.2 Encoders 41
3.1.2.3 Industrial PC 42
3.1.2.4 Battery 45
3.1.2.5 Microcontrollers AVR ATmega128 45
3.1.2.6 Motor drivers 47
3.1.2.7 Monitor 47
3.2 Graphical Unit Interface (GUI) software 49
3.3 Kinect camera sensor 52
3.3.1 Kinect camera sensor 52
3.3.2 Kinect Structure 52
Chapter 4: 4WIS-AGV and Object Position Measurement 55
4.1 4WIS-AGV position measurement using NAV-200 55
4.2 Object position measurement using Kinect camera sensor 59
Chapter 5: Object Tracking Using Kalman Filter 63
Chapter 6: Controller Design 67
Chapter 7: Simulation and Experimental Results 73
Chapter 8: Conclusions and Future Works 79
8.1 Conclusions 79
8.2 Future works 83
References 84
Publication and Conferences 94
- Degree
- Master
- Appears in Collections:
- 대학원 > 메카트로닉스공학협동과정
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