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研究生:蘇信華
研究生(外文):Shin-Hua Su
論文名稱:利用無線訊號場強量測實現輪型載具追踨系統
論文名稱(外文):Implementation of a Mobile Robot Tracking System Using RSS Measurements
指導教授:莊智清莊智清引用關係
指導教授(外文):Jyh-Ching Juang
學位類別:碩士
校院名稱:國立成功大學
系所名稱:電機工程學系專班
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:2009
畢業學年度:97
語文別:中文
論文頁數:68
中文關鍵詞:無線訊號場強
外文關鍵詞:RSS
相關次數:
  • 被引用被引用:3
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  • 下載下載:51
  • 收藏至我的研究室書目清單書目收藏:2
無線感測技術廣泛應用於諸如家庭看護與環境監控等民生用途,故近年來發展出許多應用於無線感測網路系統。此外無線感測網路期望應用於未來數位家庭讓更多具備有特色機械人促進更多互動式服務。本論文旨在利用無線網路建立人員追隨機械人和移動平台技術,將感測節點裝置在移動載具上,讓載具有傳送資料和量測距離能力。量測距離主要運用訊號強度指標值,根據訊號量測值讓移動載具追隨人員。本研究在載具上可分為全向輪式與三輪式移動平台來驗證運用訊號量測法。此外,將針對訊號特性、以及系統發展平台作探討,各載具之性能,並且將載具於室內與戶外來進而實現人員即時跟隨之驗證,這項技術以低成本實現有利未來人跟機械人的互動。
Recently, Wireless sensor networks have been applied to home care and environmental monitoring systems to provide many context-aware services. In addition to the sensor networks, it is anticipated that future e-home will feature mobile robots to facilitate interactive services. The thesis attempts to establish a personal tracking robot system based on sensor networks and mobile robot techniques. In the thesis, sensor network nodes are installed in the robots to provide data communication and range measurement capabilities. The range measurements are based on the readily available received signal strength (RSS) data. The mobile robot is then capable of tracking the person by manipulating the RSS measurements. Two different robot platforms are investigated to assess the robustness of the proposed RSS-based approach. The measurement and control techniques are verified both indoor and out-door. The technique which can be implemented in a low cost will be beneficial to future human-robot interactions.
摘要 i
Abstract ii
誌謝 iii
表目錄 vi
圖目錄 vii
第一章 緒論 1
1.1 前言 1
1.2 研究動機 1
1.3 文獻回顧 2
1.4 主要貢獻 3
1.5 論文架構 4
第二章 無線網路感測技術 5
2.1 無線網路感測概述 5
2.2 Zigbee通訊技術 8
2.3 訊號品質之特性 10
2.3.1 電磁波通道分析 10
2.3.2 訊號品質變動的因素 12
2.4 訊號衰減模型 14
第三章 全向輪機器人系統 15
3.1 全向輪系統介紹 15
3.2 系統模型 16
3.2.1運動模型 17
3.2.2動態模型 19
3.3 系統控制 20
3.3.1 運動模型控制 20
3.3.2 動態模型控制 22
3.4 系統模擬與分析 24
3.4.1 點對點穩定 25
3.4.2 直線軌跡追踨 26
3.4.3 圓型軌跡追踨 28
第四章 三輪移動載具系統 31
4.1 三輪移動載具介紹 31
4.2 系統模型 32
4.3 系統控制 33
4.4 系統模擬 35
4.4.1 直線軌跡追踨 36
4.4.2 圓形軌跡追踨 38
第五章 系統實現與結果分析 40
5.1 利用Zigbee系統量測實驗 40
5.1.1 室內LQI訊號量測 40
5.1.2 戶外LQI訊號量測 41
5.1.3 移動載具與Zigbee人員追隨實驗 42
5.2 全向輪系統之實現 45
5.2.1 系統架構 46
5.2.2 系統軌跡追踨實驗 54
5.3 三輪車系統 55
5.3.1 系統架構 56
5.3.2 系統特性實驗 59
5.2.3 系統軌跡追踨實驗 62
第六章 結論與未來工作 63
6.1 結論 63
6.2 未來工作 64
參考文獻 65
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