具循線與避障功能之自走車設計研究

我們研究關於自動搬運車的循線及避障，自動搬運車經常使用在自動化工廠。自動搬運車，使用固定軌道運行的方式，軌道無法再利用，造成空間上的浪費。如何能有效地運用運行軌道的空間，遇到障礙物時自動搬運車可以避開障礙物，我們研究希望可提供自動搬運車設計的考量。關於循線，我們利用紅外線感測器來偵測軌道,我們運用PID控制自動搬運車運行,讓循線更精準，曲線或轉彎的控制精準度亦提高。關於避障，我們利用掃描式超音波感測器,自走車可以隨時測量本身與障礙物的距離,及計算障礙物與軌道的關係，使用最有效的方式來避開障礙物。本設計可使車子避開不規則的障礙物，這樣功能亦可做為交會車功能設計之参考。

關鍵字

自動避障；循線； PID控制

並列摘要

Research on the automated guided vehicle tracking and obstacle avoidance, automatic guided vehicles for use in factory automation. Automatic guided vehicles, using a fixed orbit mode, the orbit regions can’t be reused, resulting in a waste of space. How to effectively use the space orbit, the automatic guided vehicle encounters an obstacle can avoid obstacles. We hope that research can provide an automated guided vehicle design considerations. About tracking, we use infrared sensors to detect the track, we use PID control, automatic guided vehicles, tracking more accurate, curve or turn also improve control accuracy. About obstacle avoidance, we use ultrasound scanning sensors, the vehicle can always measure the distance between itself and the obstacles, and calculate the relationship between the obstacle and the track, the most effective way to avoid obstacles. This design allows the car to avoid irregular obstacles, so the function can also be used as a reference vehicle intersection functional design.