line following robotic vehicle using microcontroller ppt

... the center axis of the vehicle, (x0, y0) and (x1, y1), the slope of LINE 1 in Fig 5.2 can be found as y1−y0 x1−x0 Since LINE 1 and LINE 2 are perpendicular, the slope of LINE 2 is −(x1−x0 ) y1−y0 ... ) coordinates using the fixed row method Trang 3Patricia Mellodge Chapter 4 Curvature Estimation 32Figure 4.17: The curve of Fig 4.4 tranformed into the car’s (x,z ) coordinates using the variable ... The transformation of Fig 4.18 using the fixed row method Trang 5Patricia Mellodge Chapter 4 Curvature Estimation 34Figure 4.20: The transformation of Fig 4.18 using the variable row method Figure

Ngày tải lên: 10/08/2014, 02:20

... the following block of code: Mammal m; Horse h = new Horse(); Whale w = new Whale(); Kangaroo k = new Kangaroo(); m = h; Console.WriteLine(m.GetTypeName()); // Horse m = w; Console.WriteLine(m.GetTypeName()); ... silence the warning by using the new keyword as follows: class Token { public string Name() { } } class IdentifierToken : Token { new public string Name() { } } Using the new keyword ... Console.WriteLine(m.GetTypeName()); // Whale m = k; Trang 9Console.WriteLine(m.GetTypeName()); // Kangaroo What will be output by the three different Console.WriteLine statements? At first glance, you would expect

Ngày tải lên: 24/12/2013, 09:16

... of the path following lateral controller implemented on theFLASH car The controller was developed using the kinematic model for a wheeled robot.The global kinematic model was derived using the ... 38 5.2 Errors of the path following vehicle 40 5.3 The simulink representation of the car’s kinematic model 43 5.4 The states, x2, x3, and x4, resulting from using the actual errors and ... resulting from the using the φ estimator . 49 5.11 The control resulting from the using the φ estimator . 49 5.12 The heading angle, θ p and steering angle, φ, resulting from using the φ estimator

Ngày tải lên: 14/03/2014, 14:20

... in worst-case cubic time (using a generalization of the Floyd-Warshall algorithm) For acyclic or feed-forward transducers, this time can be improved dramati-cally by using a generalization of ... experiment, using the system of Bouchard-Cˆot´e et al (2009), we compare the reconstructions produced from our automatic groups to those produced from gold cognate groups 7.1 Baseline As a novel ... Romance dataset and ran each method to conver-gence Besides the heuristic baseline, we tried our model-based approach using Unigrams, Bigrams and Anchored Unigrams, with and without learn-ing the

Ngày tải lên: 17/03/2014, 00:20

... nos.1 and 2, March and June 1968] On-Line Semantic Analysis of English Texts* by Yorick Wilks, Pembroke College, Cambridge This paper describes the use of an on-line system to do word-sense am- ... brackets, and markers, drawn from the following list: BE BEAST CAN CAUSE CHANGE COUNT DO DONE FEEL FOLK FOR FORCE FROM GRAIN HAVE HOW IN KIND LET LIFE LIKE LINE MAN MAY MORE MUCH MOST ONE PAIR ... share a common pair of markers; or (2) they have one or more of the following elements in common: ONE, COUNT, WORLD, WHOLE, LIFE, LINE, MUST, SELF, SPREAD, TRUE, WRAP, WHEN, WHERE, THINK; or (3)

Ngày tải lên: 23/03/2014, 13:20

... housing units and individual homeowners are expressing interest in installing charging stations for electric vehicles Does SCE provide charging station installation information? Can Electric Vehicle ... installing an electric vehicle supply equipment (EVSE), commonly referred to as EV charging stations, is a straightforward process; however, unique challenges may pop up Following are answers ... that SCE will be responsible for planning, designing, and engineering Distribution Line and Service Extensions using SCE’s standards for design Additionally, Section DDS-8 2.0 of SCE’s Design Standards

Ngày tải lên: 23/03/2014, 23:20

... high-dimensional Toeplitz matrices using the fourth-order cumulants of some properly chosen sensor outputs; secondly, it forms a parallel factor (PARAFAC) model in the cumulant domain using these matrices, ... source A good approxima-tion of the nonlinear propagaapproxima-tion delay funcapproxima-tion consists of its second-order Taylor expansion (Fresnel approximation). Using such an approximation, the ... matrix R iskRif and only if arbitrarykR columns of R are linearly independent and either R haskR columns or R contains a set ofkR+ 1 linearly dependent columns Note that Kruskal rank is always

Ngày tải lên: 22/06/2014, 19:20

... Additionally, if there is linear separability among the re-gions associated with the normal and abnormal conditions in the vector space of extracted parameters, then linear tech-nique that efficiently ... the occurrence of disturbances Trang 5is implemented The parameters of the linear technique canbe adaptively obtained by using the least mean square (LMS) or the recursive least square (RLS) algorithm ... reproduction in any medium, provided the original work is properly cited The increasing pollution of power line signals and its impact on the quality of power delivery by electrical utilities to end users

Ngày tải lên: 22/06/2014, 20:20

... filter with a finite bandwidth by using appropriate selection of the for-getting factorγ. For a second-order modulator,m =2, it can be shown that using the following values forγ, the Kalman filter ... noise, it is described in [17,18] that the filter transfer function,H(z), can be expressed using the following truncated Laguerre series: HL(z) = whereγk is the Laguerre series coefficients and ... produced by theΣ-Δ modulator is removed by using the lowpass filter, H(z), and the input signal is recovered. Some common Σ-Δ lowpass filters are introduced in the following subsections They are discussed

Ngày tải lên: 22/06/2014, 23:20

... microcontoller This microcontroller interpreted the received commands into PWM signals for the steering servo and motor Ad-ditionally, the microcontroller implemented speed control by using feedback ... avoidance, and lateral control were intended to be developed using the Smart Road as a testing ground [5] A completely autonomous vehicle is one in which a computer performs all the tasks that ... requires a model of the vehicle’s behavior There have been two approaches to this modeling: dynamic and kinematic Dynamic modeling takes into account such factors as the vehicle’s weight, center

Ngày tải lên: 10/08/2014, 02:20

... kinematic model for the rear wheel drive, front wheel steered robotic car is derived Using this model, a controller is given to perform path following 3.1 Mathematical Modeling The model used throughout ... of these types of lines and both provide a path for following A higher level planner, independent of the controller discussed here, is responsible for determining which type of line to follow The ... and φ was nearly a straight line So the relationship between c(s) and φ was approximated to be where α and β were determined using the method of least squares to fit a line to the data The sign

Ngày tải lên: 10/08/2014, 02:20

... Trang 1which is linearly parameterizable in c(s) This can be rewritten in the following form:where y = v1tanφ w = v1cosθ p+ v1dtanφ Knowing w and y, a can be obtained using a least squares ... the following: By choosing three different rows in the image and finding the location of the white centerline in those rows, the (x, z) coordinates in the car’s frame of reference can be found using ... constraints on the path’s curvature, the track itself consists of a black surface with a white line The white line is the path that the car is to follow This scheme allows for fairly easy processing

Ngày tải lên: 10/08/2014, 02:20

... b, can be found using the above method but LINE 2 in Fig 5.2 must go through (x0, y0) Conversion to Sensor Representation On the FLASH car, the line beneath the car is detected using an array ... depending on whether the line is detected The result is a binary representation of the line’s location such as 1110011111111111 where the zeros indicate the location of the line The error distance ... performance of the controller using these methods is discussed Trang 6Figure 5.4: The states, x2, x3, and x4, resulting from using the actual errors and curvature.5.3.1 Control Using the Actual Curvature

Ngày tải lên: 10/08/2014, 02:20

... Access to the hardware is done using assembly language functions directly The assembly language functions are called from C and the bus data gets put into a C variable The following assembly code function ... the data bus using address mem+offset However, there is a difference in the way these functions are used in the main program The PutMem() function is used to send data to the PIC microcontroller ... distance in inches, the following algorithm was developed Starting with the rightmost bumper sensor (the LSB of the variable), the value of each bit is checked If it is a 1, no line was detected by

Ngày tải lên: 10/08/2014, 02:20

... details of the path following lateral controller implemented on the FLASH car The controller was developed using the kinematic model for a wheeled robot The model was derived using the nonholonomic ... account the dynamics of the actuators Using the controller in the simulation, it was possible to instantaneously change the steering angle and velocity of the vehicle This is not possible in the ... architecture, the DSP commands a velocity and the PIC microcontroller is responsible for reaching and maintaining that speed The PIC implements a PID controller using feedback from an optical encoder attached

Ngày tải lên: 10/08/2014, 02:20

... Kinematics of Wheeled Mobile Robots,” Int J of Robotics Research, vol 8, no.5, pp 15-27, 1989. [8] P Kachroo, ”Microprocessor-Controlled Small-Scale Vehicles for Experiments in Au-tomated Highway ... discussed The pos-sibility exists to implement many different types of controllers to perform path following or realize other control objectives The controller performance on the hardware was very ... based one has not The necessary hardware upgrades must be done before the camera can be used on the vehicle Once this has been done, the image based curvature estimator can be tested It is known through

Ngày tải lên: 10/08/2014, 02:20

... between the sensors (in meters) * Returns: error - the distance (in inches) that the line is off center * (if the line is to the right, error is positive) ****************************************************************************/ ... CheckD bcf PORTA,1 ; enable the vehicle goto EndCheck CheckD movf char2,0 ;else if it was disable sublw ’d’ btfss STATUS,Z goto CheckM Trang 9bsf PORTA,1 ; disable the vehiclegoto EndCheck CheckM ... nop nop nop bcf HEART nop nop nop nop nop btfsc PORTA,1 ; see if vehicle is enabled goto disabled btfss PORTA,0 goto auto ; see if vehicle is in auto mode movf spdtmp,0 addlw d’31’ movwf speed ;

Ngày tải lên: 10/08/2014, 02:20

... internal combustion (IC) engine vehicles and electric vehicles Fuels presently utilized in internal combustion engine vehicle include turbo or supercharging gasoline, diesel, methanol, and natural ... efficiency and vehicle performance The purpose of this thesis is to create a MATLAB/ADAMS hybrid vehicle model that demonstrates the fuel efficiency advantage of a hybrid vehicle Current hybrid vehicle ... vehicle system Trang 2917 Chapter 3 Hybrid Vehicle Modeling As previously mentioned, the hybrid vehicle modeled in this project was based on the specifications of the Honda Insight hybrid vehicle

Ngày tải lên: 27/01/2016, 13:02

... ngoài nước Khái niệm: Robot dò line (Line following Robot) là một dạng robot di động (mobile Robot) di chuyển bằng các bánh xe Robot sẽ di chuyển bám theo các đường line được kẻ/vẽ/dãn trên bề mặt ... hiện trong line 62 Hình 6.12 Mô hình biểu diễn trường hợp 3 cảm biến có vùng phát hiện nằm trong line 63 Hình 6.13 Biểu đồ quan hệ giữa giá trị khoảng cách thực tế so với đường tâm line và giá ... Trang 1Bài báo cáo này với đề bài là: “Thiết kế, chế tạo và điều khiển Robot dò line (LINE FOLLOWING ROBOT” Qua quá tình thực hiện đồ án, chúng em đã thu nhận được thêm rất nhiều kiến

Ngày tải lên: 10/07/2021, 18:16

... QUAN 1 Sơ lược về Robot dò line: Robot dò line (Line Following Robot) là một dạng robot di động (mobile robot) dichuyển bằng bánh xe Robot sẽ di chuyển bám theo các đường line được làm sẵn trên mặtđất ... rất nhanh 00011000 Line nằm giữa Line nằm lệch bên phải Line nằm lệch bên trái 00000110 01100000 Tín hiệu mức thấp tại vị trí không có line Tín hiệu mức cao tại vị trí có line Hình 1.3 Giải thuật ... cho robot dò line 18 Hình 4.3 Cách xác định e3 18 Hình 4.4 Sai số trung bình ứng với mỗi giá trị khoảng cách d 19 Hình 4.5 Kết quả bám line ở đoạn A-B-C-D 21 Hình 4.6 Kết quả bám line ở đoạn D-E-F-C-G

Ngày tải lên: 03/08/2021, 14:25