超音波與光感測器訊號控制循跡與避障方法設計

本研究旨在設計藉由超音波感測器感測環境資訊，判別障礙物位置、距離及避開障礙物，運用雙光源感測器輸出的數位訊號，來感測軌跡並運用程式編寫設計使自走車跟隨軌跡線運動；雙光感應器循跡主要分為橫跨式與非橫跨式，一般常見之雙光感應器黑線循跡，多以橫跨式，優點是不受感測器大小限制且能判斷十字或Y字線型，這是非橫跨式循跡所無法達到的，但橫跨式循跡不適用於兩個光感測器距離過近的狀況，本論文研究非橫跨式的循跡方法，且運用多段式搜尋軌跡之方法使自走車脫離軌跡依舊能準確回到軌跡上並且繼續循跡並且根據超音波感應器之環境監控躲避障礙。此研究成果參加2015亞洲機器人運動競技大賽社會組-mBot摸黑項目獲得第一名，因感應器間距離短，自走車體積設計能大大縮減，可作為醫院與辦公室文件遞送等小區域範圍的運用。

關鍵字

自走車；機器人；循跡；避障

並列摘要

mBot robot Kit, made by Makeblock, are used in this study. In this study rear-wheel-drive self-driving vehicle with double light sensor and ultrasonic sensor are used to do the research to develop an intelligent mobile robot with the light tracing and obstacle avoidance system. The purpose of this paper is to detect the location and distance of obstacles by using ultrasonic sensor then shy away from it and let the robot tracing the line by writing the program which is using the digital signals of double light sensors. Double light sensor line tracing can divide into two conditions: cross way and non-cross way. Normally, robots do the double light sensors line tracing use cross way. The advantage is line tracing won’t be limited by the size of the light sensors. But cross way of line tracing doesn’t apply to two light sensor which is too close. This paper studies the non-cross way of line tracing which use of multi-stage search method to let self-propelled car return to the line then continue to trace the line and according to environmental monitoring of the ultrasonic sensor to avoid obstacles. Results of this study, due to the short distance between the sensors that the volume of self-propelled car can be greatly decreased then can be used in small area like hospitals and office to delivery the documents.