Computer Vision-Control-Based CNN-PID for Mobile Robot

作     者：Rihem Farkh Mohammad Tabrez Quasim Khaled Al jaloud Saad Alhuwaimel Shams Tabrez Siddiqui 

作者机构：College of EngineeringMuzahimiyah BranchKing Saud UniversityP.O.Box 2454Riyadh11451Saudi Arabia College of Computing and Information TechnologyUniversity of BishaBisha67714Saudi Arabia King Abdulaziz City for Science and TechnologySaudi Arabia Department of Computer ScienceCollege of Computer Science and Information TechnologyJazan UniversityJazanSaudi Arabia Department of Electrical EngineeringLaboratory for AnalysisConception and Control of SystemsLR-11-ES20National Engineering School of TunisTunis El Manar UniversityTunisTunisia 

出 版 物：《Computers, Materials & Continua》 (计算机、材料和连续体（英文）)

年 卷 期：2021年第68卷第7期

页      面：1065-1079页

核心收录：

学科分类：0831[工学-生物医学工程（可授工学、理学、医学学位）] 0808[工学-电气工程] 0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 0805[工学-材料科学与工程（可授工学、理学学位）] 081101[工学-控制理论与控制工程] 0701[理学-数学] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 0801[工学-力学（可授工学、理学学位）] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：King Abdulaziz City of Science and Technology 

主　　题：Autonomous car pid control deep learning convolutional neural network differential drive system raspberry pi 

摘      要：With the development of artificial intelligence technology,various sectors of industry have *** them,the autonomous vehicle industry has developed considerably,and research on self-driving control systems using artificial intelligence has been extensively *** on the use of image-based deep learning to monitor autonomous driving systems have recently been *** this paper,we propose an advanced control for a serving robot.A serving robot acts as an autonomous line-follower vehicle that can detect and follow the line drawn on the floor and move in specified *** robot should be able to follow the trajectory with speed *** controllers were used simultaneously to achieve *** neural networks(CNNs)are used for target tracking and trajectory prediction,and a proportional-integral-derivative controller is designed for automatic steering and speed *** study makes use of a Raspberry PI,which is responsible for controlling the robot car and performing inference using CNN,based on its current image input.