本論文實現移動式繪圖機器人系統，它能使拍攝的影像即時的繪製於紙上。本系統包含主控端控制器及移動機器人兩個子系統，分別使用C語言及Verilog語言撰寫控制程式。主控端系統將影像中的特徵點分類為不同的線段，接著搜尋排序移動距離較小的線段並簡化該線段控制點個數，最後經由藍芽無線傳送所規劃的線段資訊至移動機器人。主控端系統共進行三次搜尋並分類特徵點可減少分類後的線段個數，提升繪圖的效率。移動機器人系統以FPGA發展控制器使用精準的線性差分驅動，兩組位置閉迴路控制器即時追蹤主控制器端傳送的參考軌跡資料，同時控制筆架機構提放筆，繪出所拍攝的影像縮影。本文提出放置筆尖在兩輪連線是垂直平分線上的位置，實現簡單且有效的全方位式的軌跡控制方式。

This thesis implements an autonomous drawing mobile robot system which can plot the captured picture on a paper in real-time. The system consists of two subsystems: the master controller and the mobile robot control system, which are programming by C and Verilog, respectively. The master controller first captures the image and classifies its feature points into connected pixels. Next, the master controller simplifies the connected pixels into line segments of control points and then sorts the plotting order in terms of shorter moving distance. Finally, the master controller sends the planed linear trajectory information to the mobile robot control system by Bluetooth. In this subsystem, we propose a three-pass searching algorithm to classify feature points. This algorithm can reduce number of control points of a connected line and improve drawing efficiency. The second subsystem of the system is an accurate differential drive mobile robot controlled by FPGA controller. The mobile robot tracks reference trajectory real-time by using position closed-loop controller and simultaneously control penholder mechanism to draw the picture. In this work, we propose a method by locating the tip of the pen at a perpendicular line to the middle between two wheels. Thus an omnidirectional mobile robot can be constructed, so that a simple and effective mobile robot trajectory control method can be implemented easily.

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