Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 3 of 3
Full-Text Articles in Engineering
A Wheeled Mobile Robot Path-Tracking System Based On Image Processing And Adaptive Cmac, Jih-Gau Juang, Ko-Jui Hsu, Chih-Min Lin
A Wheeled Mobile Robot Path-Tracking System Based On Image Processing And Adaptive Cmac, Jih-Gau Juang, Ko-Jui Hsu, Chih-Min Lin
Journal of Marine Science and Technology
This study entailed applying image-processing techniques and an intelligent control method to a wheeled mobile robot (WMR) for real-time trajectory recognition and tracking. The WMR was fitted with a charge-coupled device (CCD) camera to capture images of the environment, and the hue-saturationintensity color space was used to classify the color features of the captured images. The WMR calculates the relative position of a target object by using image-processing and edgedetection algorithms. This paper proposes a cerebellar model articulation controller (CMAC) and adaptive CMAC to replace conventional proportional-integral-derivative (PID) controller for guiding the WMR to track a desired path. Moreover, using …
Design And Application Of An Image-Processing-Based Fuzzy Autopilot For Small-Boat Approaching Maneuvers, Sin-Der Lee, Ching-Yaw Tzeng, Young-Zehr Kehr, Chih-Kai Kang, Chi-Chun Huang
Design And Application Of An Image-Processing-Based Fuzzy Autopilot For Small-Boat Approaching Maneuvers, Sin-Der Lee, Ching-Yaw Tzeng, Young-Zehr Kehr, Chih-Kai Kang, Chi-Chun Huang
Journal of Marine Science and Technology
This paper presents an image-processing-based fuzzy autopilot scheme for accomplishing small-boat approaching maneuvers in a harbor environment. In the proposed approach, two canvas targets are arranged in cascade on the quayside to form a leading line. The targets are detected by a charge coupled device (CCD) camera mounted on the bow of the boat, and their geometric centers are computed by a Hue- and Saturation-based image-processing scheme. The autopilot system calculates the current heading deviation and tracking deviation angles of the boat by analyzing the displacements of the target centers relative to the CCD center line. These angles are then …
Development Of A Cost Effective Mini Autonomous Underwater Vehicle, Chiu-Feng Lin, Chyuan-Yow Tseng
Development Of A Cost Effective Mini Autonomous Underwater Vehicle, Chiu-Feng Lin, Chyuan-Yow Tseng
Journal of Marine Science and Technology
This paper describes the development of a cost effective mini autonomous underwater vehicle. The mini size of the vehicle is achieved by extracting the control module hardware out from the vehicle vessel and by reducing the on-board sensors. The control of the vehicle is conducted by a base station wirelessly telecommunicating with the vehicle. Furthermore, the reduction of the sensors also reduces the cost of the vehicle. For the purpose, in the vehicle, a single sensor featuring a CCD camera is mounted at the front of the vehicle. The images taken by this CCD camera are used both for obstacle …