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研究生:江明龍
研究生(外文):Ming-Lung Chiang
論文名稱:自走車之路徑自動規劃研究
論文名稱(外文):A Study on Path Planning of Automated Guided Vehicle
指導教授:葉隆吉葉隆吉引用關係
指導教授(外文):Long-Jyi Yeh
學位類別:碩士
校院名稱:大同大學
系所名稱:機械工程研究所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2005
畢業學年度:94
語文別:中文
論文頁數:64
中文關鍵詞:自走車路徑規畫超音波
外文關鍵詞:Path planningultrasonicAVG
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本文是用超音波感測及電子羅盤為主的自走車研究,主要是開發智慧型的清掃機器人。超音波系統是以4組超音波感測組成,並由三顆Microchip 18F452 單晶片控制量測,動力系統為兩顆DC馬達控制左右輪,亦由相同單晶片做速度控制,電子羅盤則是用ADCM 1100模組,感測器均是用RS232界面與電腦聯繫。在本文中利用超音波測距與馬達上光遮斷器回授的資料,可計算出自走車位置與需清埽區域的地圖資料,並利用地圖資料作自走車路徑規畫,搭配電子羅盤修正誤差,而達到有效的區域巡航。
This study detect with ultrasonic wave and for to walk electronic compass vehicle study by oneself main fact, mainly develop intelligent cleaning the robot. The ultrasonic system is detected and made up with 4 groups of ultrasonic wave , and examine by three form chip person who control , 18F452 of Microchip ,, dynamical system control about ship for two DC motor, also done the speed to control by the same form chip, the electronic compass uses ADCM 1100 moulds of groups, the detecting device is contacted with RS232 interface and computer. In utilize ultrasonic wave it finds range to be and only materials that tickle of interdicting etc. at the motor in the article originally, can calculate and come from and go the car position and map materials which needs clear Sao area , and utilize the map materials to do the car route rule walk to draw, match the electronic compass and revise the error, and reach the effective area and cruise.
中文摘要.......................................................... Ⅰ
英文摘要.......................................................... Ⅱ
謝誌.............................................................. Ⅲ
目錄.............................................................. Ⅳ
第一章 緒論 ........................................................1
1.1 前言...................................................1
1.2研究動機與目的............................................1
1.3論文架構...................................................2
1.4 文獻回顧......................................................2
第二章 系統硬體架構...............................................4
2.1系統架構概觀..................................4
2.2.1 車架.........................................5
2.2.2 驅動電路............................................8
2.2.3 電壓調變模組...............................................9
2.2.4速度回授模組............................................10
2.3 超音波感測器.................................................12
2.3.1 超音波動作原理............................................13
2.3.2 超音波感測應用............................................14
2.3.3 超音波測距原理............................................16
2.3.4 超音波感測模組電路........................................17
2.3.5 超音波感測模組程式流程....................................20
2.4 電子羅盤............................................22
第三章自走車路徑導引與規劃........................................24
3.1自走車位置定位...............................................24
3.2 自走車右側沿牆行走.........................................26
3.2.1 自走車右側沿牆行走流程.....................................27
3.3 地圖學習模式.........................................29
3.3.1 地圖學習模式範圍限制.....................................30
3.4 掃地軌跡規劃.................................................31
3.5電子羅盤位置修正..............................................33
第四章 實驗結果...................................................34
4.1避障模式......................................................34

第五章 結論與未來發展..............................................45
5.1 結論........................................................45
5.1 未來發展.....................................................46
參考文獻...........................................................47
[1] Jin-Woo Lee., Sung-Uk Choi., Chang-Hoon Lee., Young-Jin Lee., Kwon-Soon
Lee;”A study for AGV steering control and identification using vision system” ,
Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International Symposium
on Volume 3, 12-16 June 2001 pp.1575 – 1578 vol.3
[2] Cheng, G., Zelinsky, A., “Real-time visual behaviours for navigating a mobile robot” ,Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on Volume 2, 4-8 Nov. 1996 pp. 973-980 vol. 2
[3] Yi Xiang Chen,〝Design and Implementation of Car-Like Mobile Robot with Intelligent Parking Capability〞, Department of Electrical Engineering , NCKU , ROC , 2002
[4] Ando Y. and Yuta S.,〝Following a wall by an Autonomous Mobile Robot with a Sonar-Ring〞,IEEE International Conference on Roboticsand Automation, Vol.4, pp. 2599-2606,1995
[5] Yata T., Kleeman L. and Yuta S.,〝Wall Following Using Angle Information Measured by a Single Ultrasonic Transducer〞,IEEE International Conference, Vol.2 , 1998 , pp. 1590-1596
[6]A. LOUCHENE and N. E. BOUGUECHAL., ”Indoor Mobile Robot Local Path Planner with Trajectory Tracking” ,Journal of Intelligent and Robotic Systems 37: 47
163-175, 2003
[7] Brady M., Durrant-Whyte H., Hu H.; Leonard J., Probert P., Rao B.S.Y., Computing & Control Engineering Journal Volume 1, Issue 2, March 1990 pp. 64 - 70
[8]詹儀正 “感測器應用與線路分析” 全華科技圖書股份有限公司
[9] http://www.irobot.com/home.cfm
[10] http://www.electrolux.com.tw/profile.htm
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