本研究目的在設計與製造於ㄧ台能針對特定顏色之平面動態目標物，自動進行辨識及攔截之無線遙控兩輪自走車。本系統之硬體系統可分成兩部分，管控電腦與遙控自走車。前者主要包含影像處理與控制器用以產生即時控制命令。後者則具備數位/類比訊號轉換器、直流馬達、CCD攝影機極無線影像傳輸模組，以執行控制命令與蒐集現場影像資訊回傳電腦端。本研究選擇模糊PD控制方法應用於自走車的控制器設計。目標影像辨識過程透過色彩篩選與形狀重心運算，求得目標物在影像座標上的位置及速度。應用模糊理論並結合PID回授控制達成可自調控制參數的控制以適應系統模型不確定性。模糊PD控制器將目標影像的位置及速度當成模糊輸入，以求得執行攔截任務之控制命令。系統模擬與硬體測試結果顯示模糊PD控制器的攔截效果優於傳統的固定PD控制器。

The objective of this research is to design and build a two-wheel robot vehicle controlled via video, which can recognize the moving target on horizontal surface with particular color, and intercept it automatically. Monitoring computer and robot vehicle are the two major parts of the system. The former is implemented with image processor and controller, which receive target image and generates control commands in real time. The latter, which consists of wireless command receiver, digital to analog signals converter, DC motors, CCD camera, and wireless image transfer unit, which executes the control commands and sends the far-set image to the former. Fuzzy PD control method is used in the controller design. Through color screening and shape centering technique, the image process procedure in the main computer is able to estimate the position and the speed of the target. Also, the fuzzy theorem coupled with PID control can adjust the PID gain by experience to overcome some uncertainty in the system model. The fuzzy PD controller takes the position and velocity as fuzzy input can get a control command to do the intercepting mission. Simulation of the system and hardware testing have been done and compared. The results indicate that the fuzzy PD controller can outperform the traditional PD controller.

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