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VisionBuilder

Design of an Intelligent Two-Wheeled Robot

1

2

Lab View

:

VisionBuilder

1 2

.

Abstract

An intelligent twowheeled robot is

independently driven by two concentric

moto rs . Each moto r has an encoder

connected to its shaft tomeasure angle

whenitmoves.Theintelligenttwowheeled

robot is a marginally stable plant that

avoids obstacles autonomously.Control of

the robot for stabilizingandmeetingsome

desired responses is complicatedbecause

the plant is nonlinear and non-minimum

phase.Moreover, thenumber of inputs is

lower than thenumber of outputs. In this

research,weusetheLQRcontrolandLQR

controlwithaugmentedintegrator,including

state observer in order to estimate states.

VisionBuilder software isused to capture

imageandsendtoLabViewtoimplement.

Bothsimulationandexperimental resultsof

tilt angle estimation are accurate over a

wide frequency range. Simulation and

experimental results also demonstrate the

reliabilityandeffectivenessof theproposed

controlschemeeven ifoscillationoccurs in

experiment due to friction and oscillated

electricalwire. Robot can still turnwith

high accuracy.Camera can capture high-

accuracyimageinthepresenceofobstacles

enabling the robot to avoid the obstacles

well.

Keywords : an in te l l igent two

wheeledrobot,visionbuilderprogram

1.

Segway

-

MachineVision

(Digital Signal Processor,DSP)

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Machine Vision

(LinearQuadraticRegulator,

LQR) []

(Optimal Control)

-

(Inclinometer)

ControlofRobotandVibrationLaboratory

(CRVLab)RDiPT5

1 4

1.

[],[],[]

4 .

2x,y,z

=

=

(Bodyyawangle)

= (Bodypitch

angle)

=

L =(Lagrangian)=T-V T= V = q

i=

Qi= i = -

-

()

()

()

(4)

(5)

(6)

1

L =zo

=0.04895m

Jby=y

o

=0.0798kgm2

Jwy =y

o

= 0.0084kgm2

Jbz =z

o

=0.07kgm2

Jwz

= zo

=0.04455kgm2

Jr= -

=0.0000578kgm2

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Rm =

Kb =

Kt =

Jm=

yo=x0-5kgm2

Jg =

=x0-5kgm2

fm=

=0.00

fw

=

=0

(T1),

(T2)

(U)7,89

(7)

(8)

(9)

(0)

y = Cx

6 .

2.

. (Linear

QuadraticRegulator,LQR)

(linearquadraticregulator)

(performance index, J)

(minimization)

(per for-

manceindex)

()

Q

R

(unconstraint) -

3

()

()

A,B 0

u()

(4)

A-BK

u(t)

()

(5)

A-BK

P

(5)

P

7 74 23 - 2553

P (5)

(9) K

(6)

A-BK

x(0) P

R=TTT

R

T

(5)

(7)

(8)

J

K

(9)

(0)

P(0)-

(5)

() Reduced-matr ix Riccat i

Equation

()

P (0)

K

( t rack ing ) Servo

Systems

4

4

4

(4)

(5)

8 .

K

()

(4),(5)

(6)

y

ru

r

(7)

r

t > 0(7)

(7)

(8)

(9)

(8)

(9)

(0)

3.VisionBuilder

Vision BuilderAI [4] -

.

Vis ion Bui lder

AcquireImage

. Find Edge

Edge Polar i ty

BrighttoDarkEdgeStrength

5-5Smoothing

Steepness

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(

)

Floor

Floor

Floor Floor4

Floor5

(

)

Right Right

Right

Right4Right5

(

)

LeftLeft

LeftLeft4

Left5

Calculator

x

xxxdistance Floor

distance,Leftdistance

Lab VIEW

VisionBuilderAI

Vision

Builder

Vision Builder

4

VisionBuilder

4.

(LQR)

MATLAB

0 .

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5

6

5

5

.5 =0. =-0.

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6

6

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()

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.

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Builder

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9

9

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10Vision

Builder

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11

13

12

14

4 .

4

VisionBuilder

LabView

5.

(CRVLab)

(RDiPT)

55

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74 23 - 2553

,

,.

[4] Sasaki , M., N. Yanagihara. , O.

Matsumoto. and K. Komoriya. ,

005 , Steer ing cont ro l o f the

personal r id ing-type wheeled

mobile platform (PMP), pp. 697-

70. Conference on Intelligent

Robots and Systems, 005 IEEE/

RSJ International. (IROS005),-6

Aug.005.