基於室內定位系統之自動導航車路徑追隨控制

Path Following Control for Automatic Guided Vehicle Based on Indoor Locating System

林志駿(Chih-Chun Lin)

指導教授 ： 姚立德

國立臺北科技大學/電資學院/電機工程系研究所/碩士(2011年)

摘要

針對自動導航車在室內環境的導航控制，本研究開發出一套室內定位系統，利用紅外線與超音波感測器結合無線感測網路構成一智慧型空間，以訊號到達時間差來量測取得發射端與接收端之間的距離，進而導入三邊量測法做定位計算，使自動導航車可以在此空間中做自由定位與運動軌跡追蹤，並且提出一自動導航車之路徑追隨控制與避障導引策略，使自動導航車得以平滑地追隨已設定之路徑。
本文設計一模糊控制器使自動導航車追隨在已設定之路徑上，並考慮到自動導航車行走在設定的路徑時會遭遇到障礙物，因此使用聲納感測器來偵測障礙物，使自動導航車能閃避障礙物，當完成避障控制後，將設計出一條三次曲線的導引路徑，使得自動導航車能依循此導引路徑回到原設定之路徑上，並再次進行路徑追隨。

關鍵字

室內定位系統 ； 智慧型空間 ； 自動導航車 ； 路徑追隨

並列摘要

For automatic guided vehicle (AGV) navigation control in the indoor environment, this thesis developed an indoor locating system, using infrared and ultrasonic sensors with wireless sensor networks to constitute a smart space. The AGV can freely position and track trajectory in this space. A path following control and obstacle avoidance guidance strategy is proposed to control the AGV to smoothly follow the planned path.
In this thesis, a fuzzy controller is designed to control the AGV to follow the planned path. Since the AGV might encounter obstacles in the planned path, sonar sensors are designed to detect obstacles. When the obstacle avoidance is controlled by AGV, the control strategy is developed to design a guidance path for AGV to return to the planned path and follow the path again.

並列關鍵字

Indoor Locating System ； Smart Space ； Automatic Guided Vehicle ； Path Following

參考文獻

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