臺灣博碩士論文加值系統

美國國防部自1990 年提出開發無人載具(UGV, Unmanned Ground Vehicle)相關計畫，其中地面載具應用為陸軍主要開發專案，目的在增進敵情觀測效能與保障作戰人員安全。近年來已將其廣泛應用於伊拉克及阿富汗之綏靖行動，執行高風險任務，陸用無人載具的使用，正逐步如同無人飛行載具，成為未來作戰之趨勢。本研究主要目的在以美軍小型無人地面載具為藍本，藉由結合現階段網路化概念，影像辨識、無線傳輸、衛星定位、智慧型感測及機電控制技術，開發軍用無人地面戰術運動載具雛型，結果顯示本雛型已成功完成系統整合及遠端控制關鍵技術，可作為後續概念驗證及自主式系統開發參考。

The U.S. DOD has initialed the development project of unmanned vehicle in 1990. In order to improve the battle field situation awareness and protection of war fighter, the development of unmanned ground vehicle (UGV) is the major concern of U.S. Army. The newly developed UGV has been widely used in military operation recently to perform high risk mission. In this regards, UGV will be the future trend of operation, just like unmanned aerial vehicles. We try to develop our UGV based on the concepts of US-developed UGV. By integrating the technology of network centric, image processing, wireless technology, GPS, smart sensors of UGV and mechanical control, we have developed the military UGV prototype successfully. The prototype can be further used for concept verification and system development.

誌謝......................................................i
摘要......................................................i
ABSTRACT.................................................ii
符號表...................................................iii
目錄.....................................................vii
表目錄....................................................ix
圖目錄.....................................................x
1. 緒論....................................................1
1.1 研究背景及動機..........................................1
1.2 研究目的與方法..........................................2
2. 文獻回顧................................................6
2.1 無人地面載具系統回顧-以XUG DEMO III計畫為例[4]............6
2.2 運動能力..............................................10
2.3 定位.................................................12
2.4 導航.................................................17
2.5 電腦視覺..............................................18
3. 系統架構與分析..........................................29
3.1 需求分析..............................................29
3.2 系統功能定義...........................................30
3.3 系統架構..............................................30
4. 理論分析...............................................33
4.1 運動控制...............................................33
viii
4.2 基於行為的控制(Behavior-Based Control).................35
4.3 定位與導航.............................................38
4.4 卡曼濾波器[25].........................................44
4.5 視覺伺服...............................................47
5. 系統設計與組成...........................................49
5.1 載具設計與製作..........................................49
5.2 定位導航系統............................................51
5.3 障礙迴避控制............................................54
5.4 道路識別...............................................59
5.5 運動控制...............................................61
5.6 Fuzzy Status Control..................................62
5.7 上載台視覺伺服射擊系統...................................66
6. 實驗與討論..............................................82
6.1 載具姿態估測............................................82
6.2 實驗場地路徑規劃........................................86
7. 結論....................................................91
參考文獻...................................................93

[1]Gage, Douglas W., “UGV HISTORY 101: A Brief History of Unmanned Ground Vehicle (UGV) Development Efforts,” Unmanned System Magazine, Vol. 12, No.3, 1995.
[2]Henderson, Thomas C., Minor, Mark, Drake Sam, Hetrick, Andy, Quist, Jacob, Roberts, Jared, Sani, Hamid, Bandaru, Ramya, Resmussen, Marques, Collins, Adam, Suraj, Yu Sun, Fan, Xiuyi, Louis, Ed St., Mikuriya, Shigenori, and Dean, Ken, “Robust Autonomous Vehicles,” DARPA Urban Challenge Tech. Report of University of Utah, 1 June, 2007.
[3]A Division of F&M Manufacturing Inc. “MOBILE ROBOTS FOR OUTDOOR SECURITY APPLICATIONS,” 1998.
[4]Heath-Pastore, T., Everett, H.R., and Bonner, K., “Mobile Robots for Outdoor Security Applications," American Nuclear Society 8th International Topical Meeting on Robotics and Remote Systems (ANS'99), Pittsburgh, PA, 25-29 April, 1999.
[5]GENERAL DYNAMICAL Robotic Systems, “DEMO III Operational Concept”.
[6]Bornstein, Jon, “Semi-Autonomous Robotics,” U.S Army Research Laboratory.
[7]Alonzo, Kelly, “A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles,” CMU-RI-TR-94-17, The Robotics Institute Carnegie Mellon University, 1994.
[8]ETEK NAVIGATION, “DGPS-220-PC User’s Manual,” Taipei, pp. 4, 2005.
[9]Wu, Bing-Fei, Lee, Tsu-Tian, Chang, Hsin-Han, Jiang, Jhong-Jie, Lien, Cheng-Nan, Liao, Tien-Yu, and Perng, Jau-Woei, “GPS Navigation Based Autonomous Driving System Design for Intelligent Vehicles,” Systems, Man and Cybernetics, ISIC. IEEE International Conference, pp. 3294-3299, 2007.
[10]Caron, Francois, Duos, Emmanuel, Pomorski, Denis, and Vanheeghe, Philippe, “GPS/IMU Data Fusion using Multisensor Kalman Filtering : Introduction of Contextual Aspects,” Journal of Information Fusion, Vol. 7, pp. 221-230, June, 2006.
[11]肖進麗，潘正風，黃聲享，“GPS/INS 組合導航系統時間同步方法研究”，武漢大學測繪通報，北京，2004。
[12]黃宏志，“應用模糊神經網路輔助卡爾曼濾波器於GPS與GPSINS導航系統”，台灣海洋大學碩士論文，基隆，2003。
[13]Siegwart, Roland, Nourbakhsh, Illah R., Introduction to Autonomous Mobile Robots, MIT express pp. 217, 2004.
[14]Deloura, Mark, GAME PROGRAMMINGS-Genies, pp3.41-3.78, Charles River Media, Inc.
[15]Perceptek co., “DARPA Urban Challenge 2007 Team Urbanator Technical Description,” 1 June 2007.
[16]張廣軍，機器視覺，科學出版社，北京，第6頁，2005。
[17]Kise, M., Zhang, Q., Ma’s, F. Rovira, “A Stereovision-based Crop Row Detection Method for Tractor-automated Guidance,” Journal of Automation and Emerging Technologies, Elsevier, 2004.
[18]Sonka, Milan, Hlavac, Vaclav, and Boyle, Roger, Image Processing, Analysis, and Machine Vision 2/e, Thomson Brooks/Cole, 1999.
[19]宋太亮，裝備保障性功能，國防工業出版社，北京，第35-47頁，2008。
[20]Bento, Luis Conde, Pires, Gabriel, and Nunes, Urbano, “A Behavior Based Fuzzy Control Architecture for Path Tracking and Obstacle Avoidance,” Proceeding of the 5th Portuguese Conference on Automatic Control, 2002.
[21]Thongchai, S., Suksakulchai, S., Wilkes, D. M., Sarkar, N., “Sonar Behavior-Based Fuzzy Control for a Mobile Robot,” Proceeding of the IEEE international Conference on Systems, Man, and Cybernetics, Nashville, Tennessee, 2000.
[22]Selekwa, Majura F., Dumlap, Damion D., and Collins, Emmanuel G., “Implementation of Multi-valued Fuzzy Behavior Control for Robot Navigation in Cluttered Environments,” International of Conference on Robotics and Autonomous, April 2005.
[23]楊憲東，自動飛行控制原理與實務，全華科技出版社，台北，第7.27-7.35頁，2002。
[24]“Datum Transformations of NAV420 Reference Frames,” NAV420CA Application Note, Crossbow, 2001.
[25]Kalman, R. E. “A New Approach to Linear Filtering and Prediction Problems,” Transaction of the ASME—Journal of Basic Engineering, pp. 35-45. March 1960.
[26]Shiao, Ying-Shing, “Design and Implementation of Real-Time Tracking System Based on Vision Servo System,” Tamkang Journal of Science and Engineering, Vol. 4, No. 1, pp 45-58, 2001.
[27]Chen, Kuan-Yu, “A Stereo Vision System for Image Tracking Using Fuzzy Logic Control,” Journal of Advanced Engineering Vol. 1, No. 1, pp. 21-29, July 2006
[28]Chen, K.Y, Cheng, M.Y. and Tsai, M.C., “Design and Implementation of a Real-Time Pan-Tilt Visual Tracking System,” 11th IEEE International Conference on Control Applications (CCA), 2002.
[29]Chen, K.Y and Tsai, M.C., “Design and Implementation of a Real-Time Visual Servo Tracking System,” master paper, Taipai, 2002.
[30]Collins, Robert T., “Introduction to Template Matching and the Lucas-Kanade Method,” CSE598G present, 2006.