車型機器人平台使用神經系統結構之設計

DESIGN A CAR-LILE MOBILE ROBOT PLATFORM USING NERVOUS SYSTEM STRUCTURE

施俊吉(Chun-Chi Shih)

指導教授 ： 呂虹慶

大同大學/電機資訊學院/電機工程學系所/碩士(2004年)

摘要

本論文主要是藉由軟硬體設計出一個具有人工智能的車型機器人，藉由開放性與模組化的設計使得控制系統理論得以容易的使用在所提出的車型機器人上。在本篇論文中以模糊控制理論為例，車型機器人可以完成延著牆壁行走並產生房間地圖的成果。在機器人系統中主要分為兩大部分:操作者介面與機器人本體。操作者介面目前提供一套呼叫以Ttu- 為開頭的函式庫所寫成的GUI 介面DEMO程式，同時程式本身亦可在機器人上執行，進而安裝在某一電腦上透過Internet 完成控制。在機器人本體部分共裝載了數十組控制器、各類感測器與一個強而有力的中央處理器，經實驗測試後發現在常態的控制法則下，皆能完成預期的效果。本論文所開發的機器人因其具有高度的擴充性，因此提供了一個實驗室用於開發其他車行機器人的泛用平台，對於日後的研發將是一個不可獲缺的墊腳石。

關鍵字

車型機器人、神經系統

並列摘要

In this thesis a car-like mobile robot is presented with artificial intelligent(AI). Several kinds of control theories can be used on the car-like mobile robot because of the open design and modules design. For example, a fuzzy base robot can walk following the wall and create a little map. The proposed car-like mobile robot has two major parts: user interface system and robot. The former, along with its graphic user interface(GUI) is created by Ttu- library and it includes some programs that can be installed in the main computer of robot or the client computer on Internet. Furthermore the car-like mobile robot is integrated with several controllers, sensors and a powerful computer to fit many general control theories. It is shown that the proposed platform has great potential in developing similar robots with other functions.

並列關鍵字

Car-like mobile robot ； mobile robot ； nervous ； robot

參考文獻

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