自走車多重感測器防撞系統之設計

Design on Multi-Sensor Used in Collision Avoidance System for Unmanned Vehicle

王君元(Jun-Yuan Wang)

指導教授 ： 徐祥禎

共同指導教授 ： 吳士傑(Shih-Jeh Wu)

義守大學/理工學院/機械與自動化工程學系/碩士(2016年)

摘要

本篇論文主要目的在於設計可自行移動前往目的地之自走車，彼此間的互相防碰撞系統。受限於研究經費，無法應用於實際路面車輛，因此參考先進駕駛輔助系統，使用教導軟體與自走車教學套件來開發本系統。在M-Block套件開放式系統下，利用多重感測套件來進行識別，是否遇到行進車輛或靜止的障礙物，經過確認後進行閃避或緊急停止行進，閃避完偏移路徑時迅速尋找回到正確的路徑；以上的指令反應皆在無人遙控或操作之狀態下，此為本研究開發自走車防撞系統之最大優點。
　　多重感測器部分是以超音波感測器、紅外線感測器、致動器及雷射測距器為主要感測元件；驅動元件部分使用Arduino承載系統並以直流馬達作為自走車的動力來源。軟體的部分主要利用M-Block套件，自行設計開發C#程式以驅動超音波感測器、雷射測距系統，用於偵測自走車前方是否有車輛或障礙物，並計算與障礙物之距離並以藍芽傳輸來回饋給系統，使自走車減速、停止或轉向，以達到防撞的目的。

關鍵字

自走車 ； 多重感測器 ； 藍芽

並列摘要

The main purpose of this research is to design acollision avoidance system using multi-sensor for an unmanned, free-moving and self-controllingvehicle. Due to the limitation of research budget, the real-world road test for vehicle is not applicable and teaching programming with education set of autonomous unmanned mobile has been developed in accordance with the Advanced Driver Assistance Systems (ADAS). Among the commercialeducation set of unmanned vehicles, M-Block suite is easily to learn and affordable for beginners. Based on the designed open system in M-Block suite, obstaclessuch as moving vehicles or stationary objects will be identified and the unmanned vehicle will respond the instruction to slowly/sharply stop or get out the way to avoid the collision. Furthermore, the unmanned vehicle will return to its original pathway after taken action. The above mentioned collision-free steps on unmanned remote controlled vehicle are the most advantage of this developed collision avoidance system.
Multi-sensor used in thedeveloped collision avoidance system includes ultrasonic sensors, actuators, IR sensors and laser distance-detectors. System driver is Arduino based platform and driving power is the DC motor for electrical vehicle. Software used in this system is M-Block suite and C# program is developed to drive the system with ultrasonic sensors, actuators, IR sensors and laser distance-detectors. The ahead obstacles are capable to be detected, identified and wireless (Bluetooth) transmitted by the developed collision avoidance system and the unmanned vehicle will take the actions for deceleration, sudden stop or make a turn.

並列關鍵字

unmanned vehicle ； M-Block ； multi-sensor ； Arduino ； Bluetooth

參考文獻

[1] IT”S通訊-「Arduino」介紹取自

http://newsletter-ascc-sinica-edu-tw/news/read_news-php?nid=2782。

[2] Arduino官方網站取自http://www-arduino-cc/。

[3] Arduino-TW台灣使用者社取自http://arduino-tw/index-php。

[4]維基百科 「Arduino」取自http://zh-wikipedia-org/wiki/Arduino。