ZigBee無線通訊應用於車型機器人控制與定位之設計

The Design and Application of ZigBee Wireless Communication for Mobile Robot Control and Localization

張家瑋(Chia-Wei Chang)

指導教授 ： 林國煌

國立虎尾科技大學/電機資訊學院/電機工程研究所/碩士(2008年)

摘要

隨著全球無線網路、無線通訊、VLSI 等技術的快速進步，為了建構在任何時間、任何地點都能傳遞所需資訊的環境，包括台灣、日本與韓國都開始發展優質網路(Ubiquitous Network) 的計畫，希望藉由各種不同通訊技術的結合，織成一張綿密通訊網，為人們的日常生活帶來更多安全與便利。其中，透過 ZigBee 技術的無線感測器網路 (Wireless Sensor Network)，可以在生活環境中佈置大量、微小、便宜而低耗電的計算及通訊裝置，尤其是智慧型機器人無線通訊的應用，更成為研發的焦點。因此，旨在進一步擴展完成下述兩項主要研究：(1)旨在車型機器人之行為控制，將馬達的脈波寬度調變 (PWM) 控制、倒車入庫、與 ZigBee 無線區域網絡應用，導入智慧型機器人之領域。(2)完成 ZigBee 無線傳輸全方位自走車系統，架構無線區域網路定位系統，並藉由路由器 (Router) 作中繼信號之傳輸介面轉換，將感測器之擷取信號，透過閘道器(Gateway) 通訊模組，並在電腦端設計以 ZigBee 無線遙控與本地監控之人機介面程式，以樣本比對法 (Pattern Matching) 的範圍基礎 (Range-based) 定位方法，利用全方位自走車上的訊號強度封包和鄰近感測節點的位置訊號封包，計算自走車的定位位置，實現 ZigBee 於無線感測網路的定位功能。當全方位自走車在感測區域移動時，週期性的廣播訊號封包，該封包內含全方位自走車當時的訊號強度，當感測節點收到足夠訊號封包後，會傳回至電腦端所設計圖形化人機監控與定位介面，並廣播該全方位自走車節點的位置封包，協助鄰近的感測節點定位比對。這種方法不去量測目標物體與參考點之間的距離關係，而是比對目標物體所蒐集到訊號強度特徵與定位資料庫中各個訓練位置 (Training Location) 的特徵，因此可以有效的減小因訊號強度不穩定所造成的定位誤差。

關鍵字

無線感測器網路、車型機器人、範圍基礎定位

並列摘要

With the development of global wireless network, and the technology of wireless communication, VLSI, etc. becoming high application of a lot of thresholds in the past., for the environment of any necessary information in order to build constructing in any time, any place, including Japan, Korea and Taiwan all begin to develop a plan called ' Ubiquitous Network ', hope to make into a careful communication network with the combination of different communication technologies, bring more security and facility to daily life. The ZigBee wireless sensor network can building up a large amount of, small, cheap and low power consumptive calculation and communication device in the human living environment, especially for Implementation of intelligent Robot wireless communication has becoming focus by every research. Thus, the purpose was expanding to finished of the two main research： (1) Present the Mobile Robot control, it was utilized to integrate the calculate the PWM (pulse width modulation) control signals for drive DC motor, garage-parking, and ZigBee wireless communication, channel into the field of the industry of the intelligent robot. (2) Present the omni-directional Robot system with ZigBee wireless communication. The ZigBee wireless communication mould (Router or End Device) make relaying signal or pick and fetch the detecting device one by one, use the gateway module connect to ether net and control through the graphic user interface of the computer. And present a Pattern Matching range-based localization scheme using receive signal strength indicator and mobile anchor nodes. The anchor node equipped with ZigBee broadcasts its coordinates to the sensor nodes as it moves through the network. As the sensor nodes collect enough beacons, they are able to calculate their locations locally. The kind of method amount examine the target between the distance of anchor node, but collect the target signal strength indicator characteristic and intensity of the database (Training Location). Thus, it can be reduced the localization errors from the unstable signal strength indicator.

並列關鍵字

Wireless Sensor Network, Mobile Robot, Range-based location.

參考文獻

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