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研究生： 薛柏彥
Hsueh, Bo-Yan
論文名稱： 移動式機器人即時影像目標物追蹤與避障系統之設計與實現
Real-Time Image Processing Target Tracking and Obstacle Avoidance for Mobile Robot
指導教授： 李祖聖
Li, Tzuu-Hseng S.
學位類別： 碩士
Master
系所名稱： 電機資訊學院 - 電機工程學系
Department of Electrical Engineering
論文出版年： 2008
畢業學年度： 96
語文別： 英文
論文頁數： 87
中文關鍵詞： 目標物追蹤 、立體視覺 、移動式機器人 、避障
外文關鍵詞： Mobile robot, stereo vision, obstacle avoidance, target tracking
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    • 本論文提出在室內環境中移動式機器人之即時目標物追蹤與障礙物規避之立體視覺影像處理系統之設計，本論文的視覺系統，結合了數種影像處理技術，包括顏色分割、均值濾波、侵蝕及擴張、邊緣偵測等方法，找出環境中實際的目標物與障礙物，求出目標物與障礙物相對於移動式機器人的角度位置，以及利用立體視覺求出相對於移動式機器人的實際距離，藉由了解環境中目標物與障礙物相對於移動式機器人的遠近關係，選擇不同的行為模式計算出追蹤路徑或避障路徑，並驅動移動式機器人在巡邏過程中閃避環境中的障礙物避免碰撞並且成功地完成目標物追蹤。最後，我們將藉由實驗之結果，來驗證所提方法之效能及適用性。

    This thesis proposes an image processing approach for real-time target tracking and obstacle avoidance for mobile robot navigation in an indoor environment using a stereo vision sensor. Several image processing techniques which include the averaging filter, edge-detection, erosion and dilation, and color segmentation are combined to find the target and obstacles. Then we can compute the angular position of the detected target and obstacle related to the mobile robot in the corridor. Stereo vision is utilized to calculate the relative distance of the target and obstacle from the mobile robot. According to the distance, we can determine the relationship of the target and obstacle to the mobile robot. The best target tracking path and obstacle avoidance path can be determined by different behavior modes. Therefore, the mobile robot plans a collision-free and successful track target to complete the patrol routine. Finally, the practical experiments demonstrate the feasibility and effectiveness of the proposed schemes.

    Abstract Ⅰ Acknowledgment Ⅲ Contents Ⅳ List of Figures Ⅶ List of Tables Ⅺ Chapter 1. Introduction 1 1.1 Motivation 1 1.2 Thesis Organization 3 Chapter 2. Overview of the surveillance and security robot 4 2.1 Introduction 4 2.2 Mobile Robot system 5 2.3 Hardware Architecture of the Mobile Robot 6 2.3.1 The Vision Module 6 2.3.2 The Driver and DC Motor Module 7 2.3.3 Central Processor Units: NB 10 2.3.4 Battery Module and Voltage Regular Module 11 2.4 Hardware Configuration of the Mobile Robot 11 Chapter 3. Stereo Vision 13 3.1 Introduction 13 3.2 Perspective Geometry 14 3.3 The Depth of Stereo Image 15 3.4 Summary 18 Chapter 4. Vision System 19 4.1 Introduction 19 4.2 Obstacles detection 21 4.2.1 Image Pre-processing 21 4.2.2 Grayscale manipulation 23 4.2.3 Averaging Filter 24 4.2.4 Edge Detection Approach 26 4.2.5 Binarization 28 4.2.6 Connected Component Labeling 28 4.3 Target detection 34 4.3.1 Color Segmentation 35 4.3.2 Mathematical Morphology 36 4.3.3 Differentiate between Obstacles and Target 41 4.4 Stereo Matching 42 4.4.1 Area-based technique 42 4.5 Summary 49 Chapter 5. Control Strategy System 50 5.1 Introduction 50 5.2 The Coordinate System of the Mobile Robot 53 5.3 Fuzzy Logic Controller of the Mobile Robot for Target Tracking 56 5.3.1 Fuzzification Interface (FI) 56 5.3.2 Decision Making Logic (DML) 58 5.3.3 Knowledge Base (KB) 59 5.3.4 Defuzzification Interface (DFI) 60 5.4 The Control Strategy for Target Detection 62 5.5 The Control Strategy for Obstacle Avoidance 64 5.6 Summary 68 Chapter 6. Experimental Results 69 6.1 Introduction 69 6.2 Experimental Results of Strategy for Target Tracking 70 6.3 Experimental Results of Strategy for Obstacle Avoidance 73 6.3.1 Obstacle Avoidance Strategy with One Obstacle 73 6.3.2 Obstacle Avoidance Strategy with Multi-Obstacles 76 Chapter 7. Conclusions and Future Works 81 7.1 Conclusions 81 7.2 Future Works 82 References 83 Biography 87

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