無人載具路徑跟隨導航之研究

The Study of Path-Following Navigation for Unmanned Vehicles

陳祐泓(You-Hong Chen)

指導教授 ： 曾百由

國立臺北科技大學/機電學院/機電整合研究所/碩士(2010年)

https://doi.org/10.6841/NTUT.2010.00050

摘要

近年來由於微機電技術的蓬勃發展，使得電子機械元件逐漸微小化、輕量化及高效能，因此造就無人載具的發展空間更加寬廣。而往年無人載具僅應用於軍事國防上，但近年來逐漸開放予民間使用，以供應用在學術、商業等用途上。
本研究之目標在於開發ㄧ具有路徑跟隨功能之無人載具，藉由載具上硬體設備提供之地理位置資訊，使載具自動導航於目標路徑上。在載具之導航法則方面，透過指標性規格針對數種現今常被採用的導航方法進行比較，最後以具有航行軌跡誤差權重修正特性的路徑跟隨導航向量修正法作為本研究之導航法則，並提出適應性調校控制法改善此方法之缺點，以呈現最佳的修正效果。在控制器設計上，則以PID及Fuzzy兩種控制法則作為本研究載具之控制器，先後進行模擬及實測。
在硬體系統整合實現部份，本研究結合導航用之全球定位系統接收器、數位指北針及無線通訊系統，來獲得無人載具之位置與姿態資訊，透過導航法則修正與控制器調變，控制載具姿態，完成自動導航工作。

關鍵字

無人載具 ； 適應性控制 ； 路徑跟隨 ； 全球定位系統

並列摘要

Due to the development of Micro/Nano technology, mechanical and electronic elements become more miniaturized, lightweight and higher performance in recent years; therefore, the development of unmanned vehicle has been expanded. In the past, the unmanned vehicles were applied to military field only, but recently they are popular for civilian use in science and business.
The goal of this paper is to develop an Unmanned Autonomous Vehicle (UAV) with the capability of path-following navigation, according to data provided by the on-board sensors to achieve autonomous navigation on planned path. In the search of navigation strategies, this paper compared several basic navigation methods which have been adopted by performance index specifications and an adaptive control method is proposed and experimented to assure the minimum deviation of the vehicle motion from the planned path by many standards. Furthermore, the path-following guidance- Weighted Vector Correction method has been selected to be the navigation method. Adaptive control tuning method was proposed to improve the vector correction method and obtain the best performance. In the design of controller, this paper has adopted fuzzy logic and PID(Proportional Integral Derivative) to be the control laws of UAV in the simulation and experiment.
In the realization of hardware system, the GPS (Global Positioning System), digital compass and wireless communication system have been integrated to obtain the position and attitude of UMV. Via the navigation method correction and the controller modulation, the attitude of UMV was controlled to accomplish the goal of autonomous navigation.

並列關鍵字

unmanned vehicle ； adaptive control ； path following ； Global Position System

參考文獻

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[1] FEDERATION of AERICAN SCIENTISTS

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