本論文是以數位訊號處理器(digital signal processor, DSP)為平台，以影像處理方法為基礎，建構出即時影像追蹤系統並結合全向移動機器人以達成軌跡追蹤控制之目的。整個系統主要分成全向移動機器人、影像處理模組、無線傳輸模組、影像感測器和追蹤控制器部份。其中，影像處理模組部份主要是以Altera公司所生產的可程式邏輯閘陣列(field programmable gate array, FPGA)來完成；影像感測器則是採用原相科技(PixArt Technologies)所生產的CMOS黑白影像感測器PAS106BBB；而追蹤控制器部份是以德州儀器(Texas Instruments, TI)生產的數位訊號處理器TMS320F2812為控制核心。在實作上，利用CMOS影像感測器來擷取全向移動機器人的位置，再由FPGA處理相關的影像演算法，透過無線傳輸的方式傳送位置資訊給全向移動機器人，最後利用計算轉矩(computed torque)與PID追蹤控制器來完成全向移動機器人的追蹤控制。經過驗證與分析後，本論文證實了演算法的可行性，並完成了以視覺為基礎之全向移動機器人追蹤控制。

This thesis use the digital signal processor and image processing methods to construct a real-time visual-servo tracking system for an omnidirectional mobile robot to achieve the trajectory tracking control. The system consists of an omnidirectional mobile robot with three motor actuators, image processing module, two image sensors, wireless transmission modules, and tracking controller. In this system, the image processing module is implemented by an FPGA device (EP1C12Q240C6, Altera). The CMOS image sensors from PixArt Technologies are used for detecting the position of the omnidirectional mobile robot. Besides, the tracking controller is implemented by a digital signal processor (TMS320F2812, TI). In the experiment, CMOS image sensors sense the position of the omnidirectional mobile robot, and then the image processing algorithm is executed by the FPGA device, and position information is sent to the omnidirectional mobile robot using wireless transmission. Finally, the trajectory tracking control is done by the computed torque and PID controller. The theoretical development is validated through the simulation and experiment.

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