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研究生:蔡寶賢
研究生(外文):Bao-Xian Tsai
論文名稱:以DSP實現具室內導航控制功能之機器人及其居家保全之應用
論文名稱(外文):DSP-based Navigation Control of Indoor Robot and Its Application to Home Surveillance
指導教授:李祖聖
指導教授(外文):Tzuu-Hseng S. Li
學位類別:碩士
校院名稱:國立成功大學
系所名稱:電機工程學系碩博士班
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2002
畢業學年度:90
語文別:英文
論文頁數:80
中文關鍵詞:模糊控制居家保全數位訊號處理
外文關鍵詞:Indoor RobotJAVADSP
相關次數:
  • 被引用被引用:9
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  • 下載下載:446
  • 收藏至我的研究室書目清單書目收藏:2
本論文提出在室內環境中自動導航車對於障礙物偵測與閃避障礙物之可行方法,並且透過網際網路來作遠端控制自動導航車。整個系統不僅機器人可以自動導航而且可以透過JAVA技術將遠端所探測的影像回傳。在自動導航車中DSP晶片與FPGA晶片分別負責影像處理及行為模式決策之功能。本文首先介紹自動導航車之系統架構,詳述自動導航車之影像處理系統以及感測器。接著於自動導航過程中,對於障礙物基底線偵測與自動導航車在航行中前面的物體必須要加以辨別。此外,我們運用環境中已存在的自然地標—走廊的燈光,作路徑規劃,並設計一模糊追燈控制器,來完成路徑追蹤的工作。另外,詳述以遠端控制自動導航車系統架構,包含JAVA技術、通訊介面電路的設計與遠端傳輸的延遲等。最後,我們將藉由電腦模擬及實際的結果,來驗證所提出方法的效益及適用性。
In this thesis, we propose an effective obstacle detection and avoidance approach for navigating an autonomous vehicle in an indoor environment, where the internet-based remote control ability is also developed. The whole system not only guides the vehicle automatically but also gets the security information by JAVA techniques. The DSP chip and FPGA chip mounted on the robot will be responsible for the image processing and motion control. Firstly, the structure of vehicle will be introduced, including of image processing system, sensor module, and the hardware architecture of the robot. Secondly, for automatic guidance, we should detect baseline of the obstacle and the objects that appear in front of the vehicle navigation in the corridor. Besides, we develop a path-planning based on the natural landmark—the lamp of the corridor. A fuzzy controller is designed to perform the lamp-tracking task in order to make the vehicle to follow this path. The remote control system developed in the networked vehicle including JAVA techniques, communication interface design and remote transmission latency will be described in detail. Finally, both simulations and the practical experiments demonstrate the feasibility and effectiveness of the proposed schemes
Chapter 1. Introduction 1
1.1 Motivation 1
1.2 Organization 3
Chapter 2. Hardware Architecture of Vision-Based Mobile Robot 4
2.1 Introduction 4
2.2 System Description 4
2.3 Overall Block Diagram of a Vision-based Mobile Robot 5
2.4 CCD Camera 7
2.5 Image Processing Unit 8
2.6 DC Motor Unit 10
2.7 FPGA Module 13
2.8 Sensor Unit 14
2.9 A/D Unit 16
2.10 Wireless Communication System 19
2.11Summary 22
Chapter 3. Visual Navigation Design and Image Process 23
3.1 Introduction 23
3.2 Dynamic Model of Car-Like Mobile Robot 23
3.3 Fuzzy Logic Theory 27
3.4 Coordinate Systems Description 29
3.5 Coordinate Systems Transformation 30
3.6 Fuzzy-Based Tracking Lamp Controller 34
3.7 Obstacle Detection Method 39
3.8 Avoiding Obstacle 41
3.9 Navigation Procedure 43
3.10 Navigation Point Selection 46
3.11 Determination of Gravity Point for Lamp 48
3.12 Simulation 50
3.13 Summary 54
Chapter 4.Remote Control System and System Design 55
4.1 Introduction 55
4.2 Remote Supervisory Control System 56
4.3 Transmission Delay of the Remote Control System 59
4.4 Design UART Circuit for McBsp Interface 60
4.5 Design Fuzzy Multibehavior Fusion 64
4.6 Summary 71
Chapter 5.Experimental Results and Conclusion 72
5.1 Experiment Result 72
5.2 Conclusion 72
5.3 Future Studies 73
References 78
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