臺灣博碩士論文加值系統

本論文之研究目標是建立移動式機器人在未知環境的導航系統，使機器人具有平面2-D的距離感測能力、室內環境輪廓建立能力。自走機器人系統主要分為，雷射測距儀、電腦、電力系統、馬達系統。透過雷射測距儀的偵測，可以得知機器人前方180度扇形區域內的環境輪廓、距離，電腦再根據這些搜集到的角度、距離資料，套入模糊邏輯做區域性的路徑規畫，使機器人可以逐步朝指定目標移動，並且在介面圖畫上週遭環境的輪廓。透過機器人每移動一步的偵測，我們便可逐步得到起點至目標點的環境圖。此外，本論文採用輪廓樣板比對的方式，比對機器人移動前後雷射偵測的環境圖，以及使用電子羅盤做轉向修正，進而補償機器人在移動過程中所造成的輪胎滑步誤差。

The purpose of this study is to propose the wheeled mobile robot (WMR) navigation system under an unknown environment, which consisting the 2D distance detection function, the environmental outline and the route constructing functions. The environmental outlines, which are the distance information in the front of the robot within the segmental area of the 180 degrees, are constructed based on the collecting angles and distance values through the detection and examination of the laser range finder. The robot also can move towards the specified goal progressively, and draw the outline of the surrounding after applying the fuzzy logic based regional path planning function. The environmental route mapping database from the starting point to the goal point can be created step by step with the detecting and analyzing the received individual map. In addition, this study adopts the mapping template to compare with the collected environmental information and a compass is also equipped to compensate the robot slipping to guide the robot’s movement more precisely.

中文摘要 I
ABSTRACT II
誌謝 III
目錄 IV
圖表索引 VI
第一章 緒論 1
1.1 前言 1
1.2 文獻回顧 2
1.3 研究目的與動機 5
1.4 論文架構 6
第二章 系統架構 7
2.1 硬體架構 7
2.2 自走機器人基本參數 8
2.2.1 車體結構 8
2.2.2 電源架構 11
2.2.3 馬達控制核心-dsPIC30F6014單晶片 12
2.2.4 馬達系統 13
2.3 感測器單元 15
2.3.1 雷射測距儀 15
2.3.2 電子羅盤 18
2.3.3 加速度計 20
2.4 軟體架構 23
2.5座標系統轉換 25
第三章 機器人環境輪廓繪製 27
3.1 介面圖基本資料 27
3.2 繪圖機制 28
3.3 樣板比對 30
3.4 電子羅盤修正 35
3.5 形態學（Morphology） 37
3.5.1 侵蝕與擴張 37
3.5.2 開放及封閉運算 38
3.5.3 影像測試結果 39
第四章 機器人避障策略 41
4.1 簡化模糊邏輯控制器設計 41
4.1.1 目標方向的計算 41
4.1.2 目標方向的歸屬函數 43
4.1.3 障礙物的歸屬函數 45
4.1.4 可行方向的歸屬函數 49
4.1.5 決策方向的歸屬函數 51
4.2 礙物的膨脹 54
4.2.1 直接使用模糊邏輯法的問題 54
4.2.2 膨脹障礙物 56
4.2.3 膨脹方法 59
4.3 安全遮罩 61
4.3.1 模糊邏輯法的缺陷 62
4.3.2 遮罩設定 63
第五章 實驗結果 68
5.1 加速度計輸出定義 68
5.1.1 輸出調整 68
5.1.2 傾斜換算 69
5.2 障礙物膨脹實驗 74
5.3 樣板大小選取實驗 76
5.4 電子羅盤轉向修正實驗 78
5.5 整體導航實驗 80
第六章 結論與建議 86
6.1 結論 86
6.2 建議 87
參考文獻 88
附錄1 91
附錄2 93
作者簡介 94

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