臺灣博碩士論文加值系統

移動式機器人近年來漸漸的被應用在許多的生活中，而物件跟隨是其中被重視的發展項目，本文系以雷射測距儀(Laser Range Finder，LRF)與四輪自走車(Automated Guided Vehicle，AGV)實現後方跟隨系統，而跟隨系統所搭配的感知器的種類為雷射測距儀，其具有不受天候影響的特性，而且量測的資料相當的準確，十分適合本文使用。在追蹤物件的時候，感測器提供給電腦端周圍環境的資訊，當接收到距離與反射強度資料，透過比較各筆反射強度資料，找出欲跟隨的物件，並經由雷射測距儀取得此物件與感測器之間的角度與距離資訊，當成判斷自走車移動的依據，讓系統能及時依照周圍環境的不同做出正確判斷，再透過本論文利用的滑移轉向原理控制，計算並量測自走車旋轉角速度，調整相關參數，控制自走車的轉向角度，而安全距離的保持，透過本論文提出的自走車跟隨法則，依照感測器與物件之間的不同距離，配合著線性的自走車參數，使自走車的跟隨能保持一定的安全距離，藉由上述的控制法則，使此系統達到最佳的效果。經由模擬實驗之後，結果顯示此系統可以跟隨著物件直線移動，並保持著安全距離，不發生任何的碰撞，且當物件改變了行動方向，沿著S型移動時，此系統也能順利的跟隨前方的物件移動，並量化此系統最小的轉向半徑。

This paper aims at the study of the object following for automated guided vehicle (AGV). The proposed approach utilizes the laser range finder (LRF) to detect the distances of all obstacles surrounded in a specified angle range. The AGV can autonomously follow the assigned object according to the rational reflection intensity and range of the object sensed from LRF. The cruise speed control for a moving object depending on the distance between AGV and this object is considered since it is one of the crucial parameters for object following. This paper also discusses the both control law and control logic. This study employs a down scaled AGV to verify the feasibilities of the steering, accelerating, braking, and object following algorithms developed for AGVs.

摘要 i
Abstract ii
謝誌 iii
目錄 iv
表目錄 vi
圖目錄 vii
第一章 緒論 1
1-1 前言 1
1-2 研究背景與文獻探討 2
1-3 研究動機 4
1-4 論文架構 5
第二章 無人自走車之系統規格 6
2-1 雷射測距儀原理與規格 6
2-2 四輪自走車概述 9
第三章 跟隨系統中與各系統通訊協定 17
3-1 跟隨系統架構 17
3-2 雷射測距儀解碼 17
3-3 自走車控制 24
第四章 物件跟隨之研究方法 29
4-1 物件追蹤法則 29
4-2 自走車跟隨法則 31
4-3 自走車轉向演算法 32
4-4 自走車控制器設計 36
第五章 模擬結果 41
5-1 跟隨走直線的物件之結果與探討 41
5-2 跟隨走彎曲的物件之結果與探討 45
5-3 跟隨系統轉向半徑與物件速度之結果與探討 49
第六章 討論與結論 61
參考文獻 63

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