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研究生:卓建佑
研究生(外文):Chien-Yu Cho
論文名稱:自走式機器人影像導航系統之研製
論文名稱(外文):Design and Implementation of Image Navigation System for Autonomous Mobile Robot
指導教授:劉昭恕
指導教授(外文):Chao-Shu Liu
學位類別:碩士
校院名稱:國立高雄應用科技大學
系所名稱:機械與精密工程研究所
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:2012
畢業學年度:100
語文別:中文
論文頁數:106
中文關鍵詞:自走式機器人影像導航無線Visual C#
外文關鍵詞:Autonomous Mobile RobotImage NavigationWirelessVisual C#
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本論文主要為研製實驗室所需的自走式機器人影像導航系統。目前一般市售機器人之路徑導引方式大多數都使用埋感應線,其方式的建置成本較高和運動路徑的受限等。為解決上述缺點,本研究將開發一影像導航系統以改善舊有缺點。
在研究方法中,是透過一台CCD視訊裝置連接至個人電腦主控端,藉由C#軟體自行撰寫程式處理圖像資訊,並求出自走車的座標(X,Y)及擺動角度(ϑ),其間利用無線通訊模組作雙向溝通的橋樑,傳送控制命令至受控端自走車,來控制自走車目標速度及校正角度,來達到導引於期望路徑上並到達目標位置點上,並透過不間斷的影像資料中來識別自走車目前狀態並即時控制之,來達到自走車與目標軌跡相互比對來達到回饋控制。
在模擬方面,先推導自走式機器人的動態方程式,將加入導航控制理論,並且設計傳統P控制器和具智慧型控制之模糊控制器,並使用MATLAB / SIMULINK軟體程式模擬自走式機器人於一平面之運動情形,先行輸入參考的導航路徑,使自走式機器人模擬參考的導航路徑行駛,再於兩條路徑中相互比較與分析。
研製此方法的出發點在於便利性、安全性,且本系統將可取代人工方式,例如應用於雪地的除雪、草地的割草等工作;也可取代傳統運用於AGV導覽大規模埋感應線方式,以影像方式導引,達到降低生產成本的目的。
This thesis is about a development that laboratory required which named “Design and Implementation of Image Navigation System for an Autonomous Mobile Robot”. Generally commercially available robot path guided way most of the buried sensor cable and build the high cost of manner and motion path is limited. To address these shortcomings, this study will be to develop an image-guidance system to improve the old shortcomings.
In research methods, through a CCD video device connected to the PC host overhead, by the C # software to write program to process the image information. Also, demand from the coordinates of the coordinates (X,Y) and swing angle (ϑ). At the same time, use the wireless communication module as a bridge for two-way communication, delivering the control commands to the controlled side. Then, Send control commands to the controlled end of the automatic vehicle. And to control the automatic vehicle target speed and angle of correction, guiding to the expectative path and reach the target location point. Moreover, through the continuous image data to identify the automatic vehicle of current status and control it immediately, to achieve the feedback control of the contrary between automatic vehicle and the target locus.
At the aspect of simulation, first, calculate the dynamic function of the autonomous mobile robot, then use the cruise control theory and design the traditional P controller and vague controller of intelligent control. Besides, simulate the situation that autonomous mobile robot operates on the surface by MATLAB / SIMULINK software programs. Then, import the navigation path and make autonomous mobile robot operates according to the navigation path. And, make a comparison and analysis between two paths.
The main point that I research this method is the convenience and security. Moreover, this system can replace the labor. For example, it can be used in the snow when we want to shovel it and in the lawn when we want to mow it. Also, it can replace the traditional reaction way which used in AGV. And, lead by image way to achieve the purpose of reducing the cost.
第一章 緒論
1.1 前言
1.2 研究動機與目的
1.3 文獻回顧
1.4 論文架構
第二章 自走式機器人之運動模型
2.1 自走式機器人簡介
2.2 自走式機器人之系統模型
2.3 自走式機器人之導航控制
第三章 自走式機器人之整合及次系統介紹
3.1 內容簡介
3.2 系統整合操作與流程
3.3 結構及動力驅動次系統
3.4 微控制器資料處理次系統
3.5 無線傳輸次系統
3.6 影像處理次系統
3.6.1 基礎影像理論
3.6.2 影像之硬體設備
3.7 人機介面介紹
3.7.1 軟體平台簡介
3.7.2 人機介面之設計
3.7.3 人機介面之操作流程
第四章 自走式機器人之控制器設計與模擬
4.1 控制器設計
4.1.1 傳統PID控制器
4.1.2 模糊邏輯控制器
4.2 模擬參數設定
4.3 模擬結果與結論
4.3.1 傳統PID控制器模擬結果
4.3.2 模糊控制器模擬結果
4.3.3 結論
第五章 自走式機器人影像導航系統之實驗
5.1 自走式機器人影像導航系統之成品
5.2 影像導航系統之路徑規劃實驗結果
第六章 結論與未來發展
6.1 結論
6.2 未來發展
參考文獻
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