臺灣博碩士論文加值系統

本論文使用光學雷達(LiDAR)導引智慧型自主式車輛(IAV),使智慧型自主式
車輛完成自動室內巡航與避開巡航路線上之障礙物功能(cruise and obstacle
avoidance)。本論文以提升第一代 Yun-Trip 智慧型自主式車輛之巡航時的車速與避
開巡航路線上之障礙物為主。而新開發的 Yun-Trip II 使用原先 Yun-Trip 的車體底
盤,硬體部分使用單顆光學雷達(LiDAR)取代原先的電腦視覺(computer vision),運
算核心更換成 ARM 處理器架構之 GUN/Linux 嵌入式系統(ARM-Based embedded
system GNU/Linux),軟體則使用 C++程式語言進行開發,計算巡航路線和路線位
置判斷。本論文使用 VFH+演算法,利用光學雷達所得到的資訊進行運算並增加巡
航位置判斷方法,使其能夠完成室內巡航。

The thesis presents a method for the automatic interior cruise and obstacle avoidance of
Intelligent Autonomous Vehicle (IAV) with the guidance of Light Detection and
Ranging sensor (LiDAR). The main point of the thesis is to enhance the cruise speed
and obstacle avoidance functions for IAV "Yun-Trip I" and develop its advanced version
IAV "Yun-Trip II". The advanced "Yun-Trip II" features chassis from its predecessor,
improve computer vision with a single LiDAR as core, adopted ARM-Based embedded
system GNU/Linux, and perform cruising calculation and route locating with Microsoft
Visual C++. The thesis adopt VFH+ obstacle avoidance algorithm, computing
information collected by LiDAR and providing multiple locating methods to help
complete interior cruise.

摘要............................................................................................................................ i
ABSTRACT ...................................................................................................................... ii
誌 謝.......................................................................................................................... iii
目 錄.......................................................................................................................... iv
表 目 錄.......................................................................................................................... vii
圖 目 錄......................................................................................................................... viii
第 1 章 緒論 ................................................................................................................... 1
1.1. 研究動機與目的..................................................................................................1
1.2. 文獻回顧.............................................................................................................2
1.3. 研究方法.............................................................................................................4
第 2 章 硬體架構介紹 .................................................................................................... 5
2.1. 車體與硬體架構簡介 ..........................................................................................5
2.2. 運算核心.............................................................................................................6
2.3. 感測元件.............................................................................................................7
2.3.1. 掃描式雷射測距儀 ..............................................................................................7
2.4. 驅動元件.............................................................................................................8
2.4.1. 轉向伺服機 .........................................................................................................8
2.4.2. 直流馬達驅動器..................................................................................................9
2.5. 電源供應系統 ................................................................................................... 10
2.5.1. 動力系統........................................................................................................... 10
2.5.2. 運算電力系統 ................................................................................................... 11
第 3 章 控制法則與路線規劃 ....................................................................................... 12
3.1. 避障演算法 ....................................................................................................... 12
iv3.1.1. 極座標直方圖 ................................................................................................... 12
3.1.2. 安全空間........................................................................................................... 13
3.1.3. 轉向限制........................................................................................................... 18
3.1.4. 選擇轉向角度 ................................................................................................... 20
3.2. 速度演算法 ....................................................................................................... 22
3.2.1. 障礙物密度 ....................................................................................................... 22
3.2.2. 障礙接近率 ....................................................................................................... 22
3.2.3. 碰撞預測........................................................................................................... 24
3.3. 巡航路線及路線特徵判斷 ................................................................................. 26
3.3.1. 巡航路線........................................................................................................... 26
3.3.2. 車體座標........................................................................................................... 27
3.3.3. 路線特徵判斷 ................................................................................................... 27
3.3.3.1. 自走車位於走廊位置 ( ).......................................................................... 28
3.3.3.2. 自走車位於樓梯位置 ( )................................................................. 30
3.3.3.3. 自走車位於轉角位置 ( )......................................... 31
3.3.3.4. 自走車位於迴轉位置 ........................................................................................ 33
3.4. 程式流程圖 ....................................................................................................... 34
第 4 章 實驗結果與討論............................................................................................... 35
4.1. 實驗討論........................................................................................................... 35
4.1.1. 自走車位於走廊位置 ........................................................................................ 35
4.1.2. 自走車位於轉角位置 ........................................................................................ 35
4.2. 實驗結果........................................................................................................... 36
4.2.1. 自走車位於走廊位置之結果 ............................................................................. 36
4.2.2. 自走車位於樓梯位置之結果 ............................................................................. 37
4.2.2.1. 樓梯位置位於自走車左側 ................................................................................. 37
4.2.2.2. 樓梯位置位於自走車右側 ................................................................................. 39
v4.2.3.
自走車位於轉角位置之結果 ............................................................................. 41
4.2.3.1. 自走車左轉轉角位置 ........................................................................................ 41
4.2.3.2. 自走車右轉轉角位置 ........................................................................................ 42
第 5 章 結論與建議 ...................................................................................................... 43
5.1. 結論 .................................................................................................................. 43
5.2. 建議 .................................................................................................................. 43
參考文獻.......................................................................................................................... 44

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