雙輪機械人之導航與運動控制

Toward the navigation and control of a two-wheeled autonomous vehicle

劉彥伯(Yen-Po Liu)

指導教授 ： 陳建祥

國立清華大學/工學院/動力機械工程學系/碩士(2006年)

https://doi.org/10.6843/NTHU.2006.00233

摘要

閃避障礙物為雙輪機械人控制系統首要目標，為達成此目標，超音波感測器已被廣泛採用，利用超音波感測雙輪機械人與周圍環境間的距離，再利用此資訊做出進一步的控制，達成沿壁行走(Wall-Following)與閃避障礙物的要求；雙輪機械人除了要能夠閃避未知障礙物之外，更需要被解決的問題，即為定位的問題，如無法知道雙輪機械人目前所在位置，將無法做出進一部的控制；現今無線射頻辨識系統(RFID, Radio Frequency IDentification)廣泛被應用於服務業當作產品的控管，且在定位上是屬於較不貴且可靠度不錯的裝置，因此，無線射頻辨識系統可以有效的解決定位上的問題。
本文應用無線射頻辨識系統於雙輪機械人定位上，並將沿壁行走與閃避障礙物的方法融入其內以達成雙輪機械人導航與運動控制；以嵌入式工業電腦(Lincon 8000)裡的Linux為主要的發展環境，運用C語言來撰寫各控制法則，以實現導航與運動控制，對於聲納誤判加以處理，使得聲納對於轉角所造成的誤判得以改善，利用RFID作為定位的裝置，藉此修正雙輪機械人內部位置參數，達到定位的目標，並且可以經由FTP傳送雙輪機械人內部行走參數回主控端，把行走的資訊繪至於主控端的Matlab使用者圖形介面上，易於檢視雙輪機械人目前所在位置。

關鍵字

聲納 ； 無線射頻辨識系統 ； 雙輪機械人

並列摘要

In recent years, RFID (Radio Frequency IDentification) system has been widely used in service industry for identification. The RFID system is designed for inexpensive and reliable purpose in automatic identification. In addition, self-localization problem can be effectively solved by using RFID system. To achieve this goal, a two-wheeled autonomous vehicle is equipped with a RFID reader to communicate with RFID-tags, which are distributed in the environment.
In this thesis, we propose a method to use sonar for obstacle avoidance and wall-following. In addition, we use the RFID system for self-localization to achieve the navigation and the control of a two-wheeled autonomous vehicle. Our experimental platform is based on the Linux operating system of an embedded industrial computer (Lincon 8000). We utilize C language to implement both the navigation system and the control system of this two-wheeled autonomous vehicle.
By using the RFID self-localization technique, we demonstrate the navigation and the control systems on a two-wheeled autonomous vehicle effectively.

並列關鍵字

sonar ； RFID ； two-wheeled vehicle

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