本論文旨在研究如何應用場效函數法，使自動導航車在一個充滿障礙物的未知環境中，由一給定的初始狀態到達一期望的終止狀態。用來實驗的為一台以筆記型電腦為控制核心的自動導航車，車上包含了數位訊號處理器、馬達驅動電路、電子羅盤、編碼器與雷射掃描測距儀等設備。電子羅盤與編碼器用來實現導航車的自我定位系統，並利用雷射掃描測距儀來感測可能的障礙物。
場效函數法以感測器每次所量測的資料為基礎，來決定自動導航車的車頭方向，並沿著此方向前進。反覆此導航過程直到在起點與終點間找出一條無碰撞的路徑。本文提出的路徑規劃法則經由實驗結果證明確實可行。

Based on a potential field function, a method is proposed to navigate a mobile robot from a given initial configuration to a desired final configuration in an unknown environment filled with obstacles. The major components of the mobile robot system include a notebook PC, a DSP board, motors and drivers, an electronic compass, an encoder, and a laser range finder. The electronic compass and the encoder are used for dead-reckoning of the robot and the laser range finder is used to detect possible obstacles. From the readings of sensors at every sampling instant, the proposed potential-field method determines the heading direction of the robot. Then the robot is driven to an intermediate configuration along the heading direction. The navigation procedure will be iterated until a collision-free path between the initial and the final configurations is found. To show the feasibility and validity of the proposed method, simulation and experimental results are included for illustration.

中文摘要……………………………..…….……………………...……I
英文摘要……………………………………………………………….II
誌謝………………………………………………………….............III
目錄……………………………………………………………………IV
表目錄……………………………………………………………..…VII
圖目錄……………………………………………………………....VIII

第一章 緒論……………………….…………………………………..1
1.1 前言……………….……….………………………………1
1.2 文獻回顧………..………...………………………….….2
1.3 研究動機..……………………………………….….……3
1.4論文架構..……………………………………….….……3
第二章 系統架構與設計……….…………………………………5
2.1系統架構簡介………………………………….….…5
2.2車體架構……………………………………….….…6
2.3感測器系統………………………………….….…7
2.3.1 電子羅盤……………………….………….….……7
2.3.2 編碼器……………………………………..………..8
2.3.3 雷射掃描測距儀……..…………………..………..9
2.4 馬達控制系統…………………………….…….……..11
2.4.1 數位訊號處理器(DSP)……….………….….…11
2.4.2 馬達驅動電路………….……….………….….…13
2.4.2.1 H電橋電路…………….……….…….….…13
2.4.2.2 H電橋電路短路保護………….…….….…14
2.4.2.3 絕緣型驅動電路…..…………….…….….…15
2.4.2.4 電路板架構圖……..…………….…….….…16
2.5 導航系統…………………………….………..….……..17
2.5.1 位置推算器……………..……….………….….…18
第三章 資料傳輸及通信……………………….….……….………19
3.1 DSP與PC之間的通訊協定.…...…………………19
3.2 雷射量測系統(LMS)與PC之間的通訊協定……….21
3.2.1 LMS的通訊設定概觀..……….………….….…21
3.2.2 建立LMS的通訊……....……….………….….…21
3.2.3 改變LMS的串列埠鮑率.……...………….….…22
3.2.4 改變LMS的量測模式….……...………….….…22
3.2.5 改變LMS的掃描距離….……...………….….…23
3.2.6 讀取LMS的掃描距離值.……...………….….…24
3.2.7 LMS的人機控制介面.……...………….….……25
第四章 路徑規劃………...………………..........……….…..….27
4.1 場效函數法簡介………………….....…………….…27
4.2 場效函數法和GNRON問題..……………….………..28
4.3 新型場效函數法.…………...……………….…………30
4.3.1新型場效函數法之步驟..…….………….….…30
4.3.2新型場效函數法步驟二的避障理論…….….…32
4.4 可見性(visibility)之判斷....……………….…………34
第五章 實驗結果……….……………………….…….…………….38
5.1 未知環境一……..……………………………...…….…39
5.2 未知環境二……..……………………………...…….…45
5.3 結論…..……..……………………………........…….…50
第六章 總結與未來展望……………………….…….…………….51
參考文獻………………………………...…….……….……….….…53
附錄一 馬達驅動電路之電路圖…...…….……….……….….…56
附錄二 電子羅盤模組之電路圖…...…….……….……….….…57
自傳…….………………………………...……………….…….….…58

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