避障車方向控制器的製作

Development of a Directional Controller for an Obstacle Avoidance Vehicle

周立強(Li-John Jou) ； 游哲文(Che-Wen Yu)

《宜蘭技術學報》 7期 (2001/12) Pp. 67-84

https://doi.org/10.6179/nit.2001.07.18

摘要

本文目的主要是採以布林代數為基礎的演算法推演避障車方向控制的邏輯方程式，以配合可程式控制器轉換成階梯電路圖，並製作一模型車加以具體化此一構想。自走避障車（以下簡稱避障車）其製作主要是能閃避前行時所遭遇的障礙。其程式部分則以邏輯控制與時間序控方式來完成。最後分別以三種不同障礙型式的擺設作測試，該車均能順利閃避障礙達到所要求的動作功能，顯示此一方式的運用相當可行，可作為機電整合順序控制教學上的一個範例。

關鍵字

布林代數 ； 避障車 ； 可程式控制器

並列摘要

The objective of this paper was to develop a directional control methodology using Boolean algebra algorithm for an obstacle avoidance vehicle. The vehicle was controlled by programmable logical controller, in order to pass smoothly through obstacles. The control strategy combined logical and time-sequence control methods. A logical circuit composed of switching functions was efficiently transformed to PLC program. The complete electrical-mechanical system was successfully tested in our campus with three kinds of obstacle patterns. Through experimental results, it demonstrated that the methodology was feasible to this work and suitable as an example for mechatronical education.

並列關鍵字

Boolean algebra ； programmable logical controller (PLC) ； obstacle avoidance vehicle