Development of a Tracking System on the Mobile Robot

2015 ◽  
Vol 764-765 ◽  
pp. 680-684
Author(s):  
Kuo Lan Su ◽  
Jr Hung Guo ◽  
Kuo Hsien Hsia
Keyword(s):  
Image Processing ◽  
Control System ◽  
Mobile Robot ◽  
Pid Control ◽  
Balance Control ◽  
Tracking System ◽  
Control Law ◽  
Moving Target ◽  
System A ◽  
Feedback Data

The purpose of this paper is to develop an intelligent mobile robot using image processing technology. The mobile robot is composed of a visual tracking system, a loading platform, a balance control system, a PC-based controller, four ultrasonic sensors and a power system. We develop a PC based control system for image processing and path planning. The mobile robot can track a moving target and adjust the loading platform by the balance control system simultaneously. The Image processing based on OpenCV use two different tracking methods, MTLT (Match Template Learning Tracking) and TLD (Tracking, Learning and Detection), to track moving targets. The efficiencies of both methods for tracking the moving target on the mobile robot are compared in this paper. The loading platform control system uses HOLTEK Semiconductor Company's HT66F Series 8-bit microprocessor as the processor, and receives the feedback data from the FAS-A inclinometer sensor. The controller of the loading platform uses the PID control law according to the feedback signals of the inclinometer sensor, and controls the rotation speed of the platform motor to tune the balance level. Keywords— Intelligent mobile robot, Image processing, OpenCV, MTLT, TLD, HOLTEK, FAS-A inclinometer sensor, PID control.

DEVELOPMENT OF TRACKING SYSTEM FOR MOBILE ROBOT USING IMAGE RECOGNITION ALGORITHMS

2015 ◽  
Vol 39 (3) ◽  
pp. 501-513 ◽  
Author(s):  
Kuo-Lan Su ◽  
Bo-Yi Li ◽  
Kuo-Hsien Hsia
Keyword(s):  
Image Processing ◽  
Control System ◽  
Mobile Robot ◽  
Pid Control ◽  
Balance Control ◽  
Tracking System ◽  
Control Law ◽  
Moving Target ◽  
Image System ◽  
System A

In this paper, an intelligent mobile robot using image processing technology is developed. The mobile robot contains an image system, a loading platform, a balance control system, a PC-based controller, four ultrasonic sensors and a power system. We develop a PC-based control system for image processing and path planning. The mobile robot can track a moving target and adjust the loading platform by the balance control system simultaneously. The image processing based on OpenCV uses two different tracking methods to track moving targets: MTLT (Match Template Learning Tracking) and TLD (Tracking, Learning and Detection). The efficiency of both methods for tracking the moving target on the mobile robot is compared here. The balance control system, with a HOLTEK Semiconductor Company’s HT66F Series 8-bit microprocessor as the processor, uses the PID control law according to the feedback signals of the inclinometer sensor to control the balance level of the loading platform.

Application of Gain Scheduled PID Control in the Lithography Positioning System

2012 ◽  
Vol 220-223 ◽  
pp. 1752-1756
Author(s):  
Gui Rong Dong
Keyword(s):  
Control System ◽  
Pid Control ◽  
Pid Controller ◽  
Structural Vibration ◽  
Positioning System ◽  
Mean Square ◽  
Positioning Control ◽  
System A ◽  
Gain Scheduled ◽  
Small Disturbances

According to the perturbation in lithography positioning control system, a novel gain scheduled PID controller using a root mean square (RMS) signal is proposed. Perturbation is also referred as the stage hunting, and the positioning control system will be very weak against small disturbances such as electrical noise or even structural vibration of the building in which the stage is installed. The gain scheduled PID controller is used to minimize the stage hunting and simultaneously maximize the immunity to disturbances. Simulations results verify the effectiveness of the gain scheduled PID controller for the positioning control in the lithography stage, as compared with the traditional PID controller.

Application of Torque Control Mode in Drilling & Routing Machine

2012 ◽  
Vol 569 ◽  
pp. 758-762
Author(s):  
Guang Chao Liu ◽  
Ming Jun Liu
Keyword(s):  
Control System ◽  
Dynamic Response ◽  
Pid Control ◽  
High Speed ◽  
Torque Control ◽  
Control Mode ◽  
Control Law ◽  
Forward Algorithm ◽  
Positioning Systems ◽  
Speed And Accuracy

In high speed and accuracy positioning systems, torque control mode can achieve much better dynamic response and easy tuning of PID parameters compared to those of position and speed control modes. By adopting and implementing the improved PID control law with feed forward algorithm, the control system can provide much higher performance at high speed movement.

A Study on UCAV Flight Control System Based on Jamming Observer

2011 ◽  
Vol 268-270 ◽  
pp. 1411-1414
Author(s):  
Hai Wen Du ◽  
Xing Wei Weng ◽  
Yu Song Fu ◽  
Chuan Lin Tang ◽  
Li Xin Zhang
Keyword(s):  
Control System ◽  
Flight Control ◽  
System Stability ◽  
Good Stability ◽  
Restrictive Condition ◽  
Control Law ◽  
Flight Control System ◽  
System A ◽  
Adaptive Flight Control ◽  
Simulation Results

In order to study the uncertain nonlinear jamming problem in UCAV’s flight control system, a method using jamming observer to check the system’s jamming was designed. Based on jamming observer, a flight control law was constructed, which reduced the restrictive condition for the jamming. The simulation results show that the adaptive flight control law based on jamming observer, make UCAV’s flight control system have good stability and robustness, it’s a great convenience analyzing the system stability.

Design UCAV Flight Control Law Based on Jamming Observer

2011 ◽  
Vol 66-68 ◽  
pp. 27-30
Author(s):  
Hai Wen Du ◽  
Xing Wei Weng ◽  
Yu Song Fu ◽  
Chuan Lin Tang
Keyword(s):  
Control System ◽  
Flight Control ◽  
System Stability ◽  
Good Stability ◽  
Dynamic Inversion ◽  
Control Law ◽  
Flight Control System ◽  
System A ◽  
Simulation Results

In order to study the nonlinear jamming problem in UCAV’s flight control system, a method of using observer to check the system’s jamming was designed, constructed robust dynamic inversion control law based on jamming observer. The simulation results show that the robust dynamic inversion control law based on jamming observer, make UCAV’s flight control system have good stability and robustness, it’s a great convenience analyzing the system stability.

scholarly journals Propeller Speed Control System on Autonomous Quadcopter with Variations in Load Fulcrum Point

2021 ◽  
Vol 12 (3) ◽  
pp. 163
Author(s):  
Ratna Aisuwarya ◽  
Ibrahim Saputra ◽  
Dodon Yendri
Keyword(s):  
Control System ◽  
Steady State ◽  
Pid Control ◽  
Balance Control ◽  
Speed Control ◽  
Unmanned Vehicles ◽  
Pitch Motion ◽  
State Tests ◽  
Speed Control System

The need for unmanned vehicles is increasingly needed in certain conditions, such as distribution of disaster supply, distribution of medicines, distribution of vaccines in the affected areas in pandemic situations. The various types of goods to be distributed require a different fulcrum. This research implemented PID control for the quadcopter balance control system to achieve stability during hovering. PID control is used to achieve a certain setpoint to produce the required PWM output for the propeller to reach a speed that can fly the quadcopter tilted until it reaches a steady state. Tests were carried out on the roll and pitch motion of the quadcopter by providing a load. The results show that PID control can be implemented for the quadcopter balance control system during hovering by determining the PID constants for each roll and pitch motion with the constanta of Kp = 0.15, Kd = 0.108, and Ki = 0.05. The quadcopter takes 3 – 6 seconds to return to the 0 degree setpoint when it is loaded.

Control system for automatic search and transportation of an object by a mobile robot using image processing

2021 ◽  
Author(s):  
Yoshitaka Matsuda ◽  
Yoshitaka Sato ◽  
Takenao Sugi ◽  
Satoru Goto ◽  
Naruto Egashira
Keyword(s):  
Image Processing ◽  
Control System ◽  
Mobile Robot ◽  
Automatic Search

Trajectory Tracking Control of Mobile Robot Based on Self-Adaptive PID Combined with Preview and Fuzzy Logic

2012 ◽  
Vol 590 ◽  
pp. 268-271 ◽  
Author(s):  
Da Lei Li ◽  
Zhan Shu He ◽  
Yue Feng Yin
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Mobile Robot ◽  
Trajectory Tracking ◽  
Pid Control ◽  
Tracking Control ◽  
Control Method ◽  
Trajectory Tracking Control ◽  
Adaptive Pid Control ◽  
Self Adaptive

A new method for controlling the steering and trajectory of the electric mobile robot is proposed. In order to control the robot’s position and heading, the path error and the heading error of the robot are taken into the control closed loop. On the basis of the self-adaptive PID control method combined with preview theory and fuzzy logic, a trajectory tracking control system is designed. Finally, experiments and simulation are conducted to test the control system. Both experimental and simulation results show that the mobile robot can approach the target trajectory quickly and then move along it, which confirm the validity and the efficiency of the trajectory tracking control system.

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