- 學位論文
具人員跟隨功能自走載具之控制器設計
The Controller Design for a Person-following Autonomous Vehicle
摘要
本研究設計跟隨人員自走載具之控制器，此載具平台使用四輪差速的方式進行轉向，其控制器運用兩組 PID控制器，一組控制載具縱向距離的誤差，另一組控制載具橫向距離的誤差，透過影像追蹤及光學雷達感測器得到目標人物的縱向及橫向距離誤差，將兩個距離誤差值透過PID控制器求出車身兩側輪子所需的馬達轉速，達到跟隨目標人物的功能。由模擬的結果來看，控制器的設計的確可使載具跟隨人的移動而運動，並保持一定的距離。 從實驗結果顯示，在彎曲及直線路徑的追蹤測試中，跟隨人員自走載具能夠穩定的跟隨目標人物，並且依據目標人物的速度，進行加速及減速的動作。 關鍵字：差速轉向、影像處理、人員跟隨
並列摘要
This study proposes a controller design for a person-following autonomous vehicle. This vehicle is four-wheel-drive and skid-steered. The controller consists of two sets of PID controllers. One controls the distance between the being-followed person and the vehicle in longitudinal direction. The other one eliminates the distance between the person and the vehicle in lateral direction. The relative position and distance between the person and the vehicle in both longitudinal and lateral direction are sensing by a image tracking camera and a LIDAR. This information then fed to the PID controllers and the required rotation speed commands for motors on the both sides of the vehicle are computed. Simulation result shows that proposed controller is able to make the vehicle follow the motion of the target person, and keep the distance between them within a designed range. The experimental results show that in the tracking tests on both straight path and curved path, the controller can make the vehicle follow the target person well. Keywords: skid-steered, image processing, person-following