本論文主要係設計與實現一全方位影像處理停車控制器之車型機器人，其中停車控制技術係依據模糊邏輯控制法則來研發設計。為了讓車型機器人能平滑的沿著所規劃的路徑移動，我們利用模糊控制器來決定車型機器人所轉動的角度來提升路徑追蹤的能力。在本研究主題中，路徑追蹤的問題可以視為將全方位影像中停車格對於車型機器人的姿態重新轉換成一個新的虛擬停車格，然後沿著虛擬停車格的位置來完成停車路徑的設計規劃與實現停車控制。首先，我們利用影像處理的方法來濾除全方位影像上的雜訊以及找尋出影像中停車格的位置。從全方位的影像資訊中，我們可以估測出車型機器人相對於停車格的相對位置並計算出一條可行的停車路徑來完成停車的目的。接著，設計一模糊邏輯控制器來控制車型機器人和提升路徑追蹤的效能以完成路邊停車控制和車庫停車控制的任務。最後，由實驗之結果均展現所提之全方位影像處理技術與智慧型自動停車策略皆具可行性與有效性。

　This thesis presents an omni-directional vision-based control scheme for car-like mobile robot (CLMR), which possesses autonomous parking capability. All the parking control and path tracking control system are developed on the basis of fuzzy logic schemes. In order to smoothly change the direction of the CLMR, a practicable reference trajectory is provided for the fuzzy controller to maneuver the steering angle of the CLMR. In the study, a path tracking problem is formulated as following a virtual parking lot, which is transformed with respect to the posture of the parking lot in panoramic images. At first, we apply the image processing technique to omni-directional images to filter out the noise and find the characteristic points of the parking lot. From the image information, one can estimate the position of the CLMR in the parking space and figure out a feasible reference trajectory. Then, we develop a fuzzy logic controller to manipulate the steering angle and increase the path tracking performance such that the CLMR can execute the parking missions, parallel parking and garage parking. Finally, the real-time experimental results demonstrate the practicability and effectiveness of the proposed image processing method and autonomous parking control scheme.

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