臺灣博碩士論文加值系統

本論文係設計實現一擁有自動停車能力之車型機器人，其中自動停車控制技術係依據模糊邏輯控制法研發設計之。本論文提出兩種自動停車控制方法，首先根據人們駕駛經驗，設計模糊車庫停車控制與模糊路邊停車控制法則，以操控車型機器人達成倒車或前進車庫停車及路邊停車的目標；接著就路徑追隨控制方法而言，我們先設計合理的停車參考路徑，再提出兩種模糊車庫停車控制與兩種模糊路邊停車控制，使得車型機器人能追隨所指定的路徑完成倒車及前進進入車庫停車或路邊停車。本論文也探討目標物追蹤控制，我們運用模糊滑動模式控制模組來達成自走式車型機器人的目標物追蹤行為能力，同時提出具障礙物規避能力的目標物追蹤控制法則。車型機器人的硬體架構主要由車身底盤結構、微電腦單元、馬達驅動單元以及感測器所組成。本文應用三種不同類型的感測器建構出四台微電腦車型機器人，其中感測器包括了反射型感測器、遮斷型感測器以及CCD攝影機。本文亦詳述此四台微電腦車型機器人之設計製作過程。最後，電腦模擬與即時實驗均展現所提出智慧型停車與目標物追蹤控制系統之適用性與有效性。

The theme of this dissertation is to design and implement a car-like mobile robot (CLMR) that possesses autonomous parking and target-tracking capability. All the parking control and the target tracking control are developed on the basis of fuzzy logic control (FLC) schemes. We develop the human-like driving skill and trajectory following approach for parking problems. According to human experiences, we propose the fuzzy garage- parking control (FGPC) and the fuzzy parallel-parking control (FPPC) to back-drive or head-in the garage and the parking lot. By a trajectory following approach, feasible reference trajectories are provided for the fuzzy logic controller to maneuver the steering angle and speed of the CLMR. To follow the specific reference trajectories, we also propose two FGPC methods and two FPPC methods to back-drive or head-in the CLMR to the garage and the parking lot, respectively. Fuzzy target-tracking control (FTTC) of autonomous CLMR is presented by using fuzzy sliding-mode control (FSMC) modular in this dissertation. Moreover, the target-tracking control with obstacle avoidance is also investigated. The hardware architecture of the PC-based CLMR developed in this dissertation is composed of chassis mechanism, microcomputer part, motor driver part, and sensors. Four types of the PC-based CLMRs are built up to accomplish the parking and target-tracking missions, where three types of sensors including reflective sensors, penetrative sensors, and a CCD camera are adopted. Both computer simulations and real-time implementation experiments demonstrate the feasibility and effectiveness of the proposed intelligent parking and autonomous target-tracking control schemes.

中文摘要 I
Abstract II
Acknowledgment (Chinese) III
Contents VI
List of Tables VIII
List of Figures IX
Chapter 1. Introduction 1
Chapter 2. Fuzzy Parking Control with Human-Like Driving Skill and Fuzzy Target Tracking Control10
Chapter 3. Fuzzy Parking Control with Trajectory Following Approach 59
Chapter 4. Hardware Architecture Installation 98
Chapter 5. Real-Time Experimental Result 119
Chapter 6. Conclusions and Future Research 137
Reference 140
Appendix. Circuit Design of FLC on FPGA Chip A-1
Autobiography (Chinese)

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