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    ASIA unversity > 資訊學院 > 資訊工程學系 > 期刊論文 >  Item 310904400/111529

    Please use this identifier to cite or link to this item: http://asiair.asia.edu.tw/ir/handle/310904400/111529

    Title: Wireless stereo vision for an omnidirectional robot
    Authors: 張漢威;Zhang, Han-Wei;蔡志仁;Tsai, Zhi-Ren;*;林進燈;Lin, Chin-Teng
    Contributors: 資訊工程學系
    Date: 2018-03
    Issue Date: 2018-10-22
    Abstract: Introduction: Image processing has been implemented for numerous applications but is yet to be robustly and
    practically applied for the control of omnidirectional robots. This application uniquely requires a visual servo
    function and a model-free design; stereo vision, which involves extracting three-dimensional information from
    images from multiple viewpoints, can be used to meet these requirements. Methods: Here, we propose a
    prototype of a two-camera system to enable wireless stereo vision. This system uses a controller to locate
    light-emitting diode markers placed on an omnidirectional robot as a robust target to guide the robot through
    various obstacles. This wireless system includes a control system that leverages artificial intelligence to
    recognize itself via remote stereo vision and adapt to its environment accordingly. However, this scenario
    introduces many control problems including time-varying delay, nonlinearity, and uncertainty. Hence, given
    the sampling period of this control system, a model-free method is proposed. A visual-delay servo is used to
    guide the robot and an adaptive prediction-control law is implemented via an island-type neural network.
    Moreover, the sampling time is accounted for in the continuous-time system to design the digital controller.
    Results: The proposed system is tested for guiding a robot into a garage. The experimental results show that
    the proposed autonomous navigation, stereo vision servo, and CIE-Lab color transformation enable a rapid
    and accurate pose acquisition for this robot. Moreover, the proposed technique provides better performance
    compared to traditional methods. Conclusion: These results demonstrate the potential of this system, which
    does not rely on physical models, to be used for a wide range of applications in the future.
    Keywords: Wireless stereo vision; Visual-delay servo; LED-based marker; CIE-Lab; Island-type neural
    Appears in Collections:[資訊工程學系] 期刊論文

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