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研究生:賴義忠
研究生(外文):Yi-Chung Lai
論文名稱:應用模糊理論結合層級分析法於車型機器人之停車控制器設計與實現
論文名稱(外文):Design and Implementation of Autonomous Parking Controller Using a Fuzzy controller and AHP for Car-Like Mobile Robot
指導教授:白能勝白能勝引用關係
指導教授(外文):Neng-Sheng Pai
學位類別:碩士
校院名稱:國立勤益科技大學
系所名稱:電機工程系
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:2013
畢業學年度:101
語文別:中文
論文頁數:86
中文關鍵詞:車型機器人模糊理論層級分析法自動停車系統
外文關鍵詞:Car-Like Mobile RobotFuzzy TheoryAnalytic Hierarchy ProcessAutonomous Parking System
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本論文主要設計與實現車型機器人的自動停車系統。車型機器人以Arduino微控制器作為整合系統以及運算資料的核心,分別管理車體周邊硬體設備,包括直流馬達與驅動器模組、伺服馬達、超音波距離感測器與藍芽模組等設備,透過超音波距離感測器回傳的資料,藉由模糊理論結合層級分析法改變車型機器人在自動停車時的動態方向。
透過模糊控制器的設計達成車型機器人在路邊停車以及倒車入庫時能夠自動駕駛,並且結合了層級分析法,在車型機器人已搜尋到停車空間並且位於適當停車位置時,先透過超音波距離感測器偵測車型機器人周圍資訊,調模糊控器的歸屬函數,使得車型機器人能達成自動停車的命令,此方法能夠改善傳統模糊控器固定式的歸屬函數,在車型機器人進入停車空間時,修正車輛停放位置的次數,有效的加快停車速度。最後以模擬結果來驗證本論文所提出的模糊結合層級分析法控制器能夠有效地將車型機器人導入停車空間當中,並以實驗結果展現此車型機器人自動停車系統的可行性。

This thesis presents the design and implementation of autonomous parking system in a car-like mobile robot. This car-like mobile robot utilizes the Arduino microcontroller to compute these data and integrate the hardware devices, which contains the DC motor and motor driver unit, servo motors, ultrasonic sensors and Bluetooth unit. We utilize the ultrasonic sensors of data to decide the reactive behavior by the fuzzy controller and analytic hierarchy process (AHP) in autonomous parking.
In the thesis, we design the fuzzy controller to autonomous drive in parallel and garage parking space and integrate the AHP to adjust the fuzzy membership function. It’s useful to improve regular fuzzy membership function of the traditional fuzzy controller and efficient to reduce the adjusting times when car-like mobile robot at the parking space. The designed algorithms have been implemented on a car-like mobile robot using nine ultrasonic sensors, Arduino microcontroller and Android application. Finally, the proposed autonomous parking system is feasible and effective from the simulation and experiments.

摘要 II
Abstract III
致謝 IV
目錄 V
圖目錄 VII
表目錄 IX
第一章 緒論 1
1.1 研究動機與背景 1
1.2 文獻回顧 2
1.3 論文目標 5
1.4 論文架構 5
第二章 系統架構與硬體設計 7
2.1 系統架構 7
2.2 硬體架構 8
2.2.1 Arduino微控制器 9
2.2.2 直流馬達與驅動模組 11
2.2.3 伺服馬達 12
2.2.4 電池模組 14
2.2.5 超音波距離感測器 15
2.2.6 手機與藍芽傳輸模組 17
第三章 相關知識 19
3.1 模糊邏輯控制器(Fuzzy Logic Controller) 19
3.1.1 模糊化(Fuzzifierion) 20
3.1.2 模糊規則庫(Fuzzy Rule Base) 21
3.1.3 模糊推論工場(Fuzzy Inference Engine) 22
3.1.4 解模糊化 (Defuzzification) 22
3.2 車型機器人動態系統介紹 24
3.3 層級分析法(AHP, Analytic Hierarchy Process) 26
3.4 基本假設 28
3.4.1 層級與要素 28
3.4.2 評估尺度 29
3.4.3 層級分析法之流程與運算方法 30
第四章 模糊-層級分析法設計自動停車系統 34
4.1 超音波距離感測器之佈局 35
4.2 停車空間偵測 35
4.3 模糊-層級分析法控制器設計路邊停車系統 38
4.3.1 自動路邊停車系統之模糊控制器設計 40
4.3.2 層級分析法 44
4.4 模糊-層級分析法控制器之倒車入庫系統設計 49
4.4.1 自動倒車入庫系統之模糊控制器設計 51
4.4.2 層級分析法 53
4.5 前進模糊控制器設計 55
第五章 實驗結果 58
5.1 車型機器人使用者端Android控制介面 58
5.2 自動停車控制器模擬結果 59
5.3 車型機器人自動停車系統實驗結果 65
5.4 層級分析法實驗結果 75
第六章 結論與未來展望 79
6.1 結論 79
6.2 未來展望 80
參考文獻 81

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