無人載具(UAV,Unmanned Autonomous Vehicle),可不需人員操縱駕駛,依照指定程序自動執行、修正並完成任務。本研究利用GPS對載具進行定位,針對GPS所提供的位置資訊,計算載具的相關姿態,並使用PID及FUZZY二種控制法則進行導航控制,經由模擬後實測。 控制核心之主控電腦採用PC104工業電腦,省去龐大的作業系統負載,而可達到即時化的運算處理。程式開發皆使用MATLAB/Simulink進行,其圖形化的介面可免去撰寫程式的麻煩,經由內建編譯器,則可將開發完成的程式直接下載至主控電腦進行運用。 實測部份分為單目標點及多目標點,實測結果証實本研究確實可以以GPS所提供的訊號對載具進行導航,並完成指定路徑。
Unmanned Autonomous Vehicle(UAV) which does not need human manipulate, can follow the designated procedures to execute, modify and complete required mission automatically. This research has utilized Global Positioning Satellite (GPS) system to guide the UAV for navigation. This study has taken advantages of PID and Fuzzy control algorithms to develop guidance and control for UAV. The developed system will be simulated on the computer followed by the experiments. An embedded industrial computer is chosen as the core processor, in which the control software is developed by MATLAB/Simulink to generate a real-time system. This approach has saved the overhead of the operating system but still achieve the real-time computing. The graphical interface of the MATLAB/Simulink can reduce the developing time and difficulties and transfer the model-based control program to target language and download automatically. Single and multiple goals navigations have been tested in the road experiments. The results have verified the navigation system developed by this research can use GPS signal to guide the UAV to complete the designate tasks.