Control of Plane Non-Holonomic Mobile Robot Based on Image Recognition

ABSTRACT

With intensive research on robot and wide application of machine vision and movement control in relevant field of robot, image recognition and movement control of robot have become the research focus gradually. This thesis sets the plane non-holonomic mobile robot as the research subject, mainly discusses the control of the plane nonholonomic mobile robot based on image recognition, it has put forward practical stabilization of plane non-holonomic mobile robot based on bounded input, proper controller has been designed aimed at (2,0) type robot and certified feasibility of the controller in theory and simulation; then constructed a test platform for the plane non-holonomic mobile robot which is suitable for this system, introducing this test platform from hardware and software.

Keywords: