Visual servoing of a mobile robot using the diffential steering system direction dialog and the speech recgnition controls
| dc.contributor.author | Imadouchene Yazid | |
| dc.contributor.other | Mellah Rabah | |
| dc.date.accessioned | 2019-11-12T13:01:11Z | |
| dc.date.available | 2019-11-12T13:01:11Z | |
| dc.date.issued | 2018 | |
| dc.description | 122 f. : ill. ; 30 cm. (+ CD-Rom) | en |
| dc.description.abstract | The aim of this work is to present a visual servoing of a mobile robot using the controls: DSS Direction Dialog and . In the first part we talk about how to control a mobile robot by using different methods and a bunch of models chosen for illustrating some controllers. After that we will see an example of a differential drive robots, then we will study their behaviors in the environment which is supposed they will move in. we will talk about making a simple robot. After that we will study the linearization. Also we talk about the stability of the robot when driving it. In the second part we will talk about visual odometry, and see the camera models and some projections of the optic flux. In the third part, we deal with sensors we may use in the field of mobile robotics by illustrating different types of them and some of their functions the robot may use in its displacement. The fourth part is about the introduction to control theory. In this part we started to explain dynamical models, after that we have seen the different controllers the robot or a car may have to use for their behaviors when they move. We will build different models of regulators and place them in a feedback system which permit us to see if we reach the objectives we have fixed to the robot. We use Simulink and MATLAB to simulate and elaborate the results. The fifth part is about showing the simulation of a pioneer robot (PDX3) by using a VPL (Visual Programming Language) as a graphical programming language which is a part of Microsoft Robotics Developer Studio 4 and that is a software we have chosen for our simulation. In this part we have seen how to control a robot according to the scene the camera of the robot may receive when moving. The first simulation is about controlling the robot by using a DSS Direction Dialog. The goal of the second simulation is to show us how to control a robot by using a Speech command (speech recognition). We have seen how the robot may avoid obstacles and going directly to the desired goal. | en |
| dc.identifier.citation | Control Systems | |
| dc.identifier.other | MAST.AUTO.59-18 | en |
| dc.identifier.uri | https://dspace.ummto.dz/handle/ummto/7555 | |
| dc.language.iso | fr | en |
| dc.publisher | Université Mouloud Mammeri | en |
| dc.subject | Visual servoing | en |
| dc.subject | DSS Direction Dialog | en |
| dc.subject | SpeachRecognizerGui | en |
| dc.subject | Control | en |
| dc.subject | Obstacle avoidance | en |
| dc.subject | Stability | en |
| dc.subject | Tracking a reference signal | en |
| dc.subject | Robustness | en |
| dc.subject | Disturbance rejection | en |
| dc.subject | Optimality | en |
| dc.subject | Effectiveness. | en |
| dc.title | Visual servoing of a mobile robot using the diffential steering system direction dialog and the speech recgnition controls | en |
| dc.type | Thesis | en |