臺灣博碩士論文加值系統

本論文主要探討一自走式機器人整合式雙迴路導航系統之設計。近年來，由於自走式機器人的應用廣泛，其導航系統的開發也成了研究的重點。從無人搬運車到服務型機器人，一開始只在自走車上裝感測器，以便得知目前自走車的狀況，現在則是利用影像的技術，不管是機械視覺或是外置式的影像監控，都能讓自走車更準確地知道周遭環境的狀況。但因為這種用影像得知周遭環境的方法，通常會用到大量的電腦視覺和影像處理的計算，所以本論文想利用雙迴路的導航系統以加速硬體的處理速度，同時確保當影像無法取得時自走車仍可以正常導航。
雙迴路導航系統中，其一是在自走車裝上光學編碼器以及電子羅盤，這兩種感測器能夠幫助自走車得知目前行走距離和角度，用得到的資料判斷是否對目前的姿態做出修正，另外則是架設一個外置式的視訊裝置，將欲行走之環境拍攝且傳送至電腦端，規劃好行走路徑後，藉由影像處理得知自走車之座標及擺動角度，再利用無線通訊模組對自走車下達控制指令，來達到自走車在期望路徑上行走並能到達目標位置上。這兩個迴路會同時存在於這導航系統中，所以當電腦在做影像的接收及處理時，自走車可以自行對目前的姿態做修正，直到電腦端藉由無線通訊模組對自走車下達控制指令，也因此若導航過程中影像鏡頭被遮蔽，自走車仍會利用感測器持續做導航的動作。
本論文實驗部分，在電腦端規劃完路徑後，開始自走車的導航控制，起初先關閉影像導航系統，只利用影像記錄自走車行走之路徑，另外再做一個將影像導航系統開啟的實驗，將兩實驗之結果做比較，來查看雙迴路導航系統用於自走車是否達到本論文之期許。

This thesis is about a development that laboratory required which named “A Double-Loops Integrated Navigation System Design for the Controls of an Autonomous Mobile Robot”. In recent years, because from the application of Autonomous Mobile Robot is extensively, the development of its navigation system also became the point of research. From Automated Guided Vehicle to Service Robot, in the beginning only at Autonomous Mobile Robot fitted with sensors, and now is uses image technology. It can let the Autonomous Mobile Robot know all around environment accurately the condition, no matter machine vision or outside set video surveillance. But because of this kind with the phantom knowing all around environment method, usually can use the computation which the massive computer vision and the image processing. Therefore this thesis wants to use the double-loops integrated navigation system to accelerate the hardware processing speed, simultaneously guarantees when the image was unable obtained the Autonomous Mobile Robot still to be possible the normal navigation.
In the double-loops integrated navigation system, one is installs the encoder and the electronic compass in the Autonomous Mobile Robot, these two kind of sensors can help it to know at present walks is away from and the angle, with the material which obtains judges whether makes the revision to the present posture. Another one is erects outside sets video surveillance, will want to walk the environment photography also the transmission to the computer, and after planed walk the way, coordinates and swinging angle because of the image processing knowing Autonomous Mobile Robot, Again uses the wireless communication mold train to it issuing control command. Achieved the Autonomous Mobile Robot walks in the expectation way and can arrive in the target location. These two loops can simultaneously exist in this navigation system, when computer makes the receive and the image processing, Autonomous Mobile Robot may voluntarily make the revision to the present posture. Therefore in the navigation process the CCD lens are camouflaged, the Autonomous Mobile Robot still could continue using the sensory element to make the navigation the movement.
In the experiments, plans the way after the computer, start to navigation control, at first, we will closed the image navigation system, only used computer to recode walking-path, then we will open the image navigation system to do this experiments again. And check both the experiments results. Examined the double-loops integrated navigation system used in the Autonomous Mobile Robot whether achieves hoped of this thesis.

摘要 ii
ABSTRACT iv
誌謝 vi
目錄 vii
圖目錄 ix
表目錄 xii
第一章 緒論 1
1.1 研究動機與目的 1
1.2 文獻回顧 1
1.3 論文架構 2
第二章 自走式機器人之控制系統 4
2.1 自走式機器人簡介 4
2.2 自走式機器人之系統模型 4
2.3 自走式機器人之導航控制 6
第三章 雙迴路導航系統與實驗架構 10
3.1 自走車迴路導航系統 10
3.2 外置式影像迴路導航系統 22
3.3 整合式雙迴路導航系統之實驗架構 26
第四章 自走式機器人控制器設計及模擬 34
4.1 自走式機器人導航控制器設計 34
4.1.1 PID控制器 34
4.1.2 模糊邏輯控制器 35
4.2 自走式機器人導航控制模擬 42
4.2.1 PID控制器導航模擬結果 43
4.2.2 模糊邏輯控制器導航模擬結果 46
4.3 模擬結果比較與結論 49
第五章 自走式機器人整合式雙迴路導航控制實驗 50
5.1 自走車迴路導航控制實驗 50
5.2 整合式雙迴路導航控制實驗 52
第六章 結論 55
6.1 結論 55
6.2 未來發展 55
參考文獻 56

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