自走車之路徑自動規劃

A Study on Path Planning of Automated Guided Vehicle

江明龍(Ming-Lung Chiang)

指導教授 ： 葉隆吉

大同大學/工程學院/機械工程學系所/碩士(2006年)

摘要

本文是用超音波感測及電子羅盤為主的自走車研究，主要是開發
智慧型的清掃機器人。超音波系統是以4 組超音波感測組成，並由三
顆Microchip 18F452 單晶片控制量測，動力系統為兩顆DC 馬達控
制左右輪，亦由相同單晶片做速度控制，電子羅盤則是用ADCM 1100
模組，感測器均是用RS232 界面與電腦聯繫。在本文中利用超音波測
距與馬達上光遮斷器回授的資料，可計算出自走車位置與需清埽區域
的地圖資料，並利用地圖資料作自走車路徑規畫，搭配電子羅盤修正
誤差，而達到有效的區域巡航。

關鍵字

自走車 ； 路徑規畫

並列摘要

This study detect with ultrasonic wave and for to walk electronic compass
vehicle study by oneself main fact, mainly develop intelligent cleaning
the robot. The ultrasonic system is detected and made up with 4 groups of
ultrasonic wave , and examine by three form chip person who control ,
18F452 of Microchip ,, dynamical system control about ship for two DC
motor, also done the speed to control by the same form chip, the
electronic compass uses ADCM 1100 moulds of groups, the detecting
device is contacted with RS232 interface and computer. In utilize
ultrasonic wave it finds range to be and only materials that tickle of
interdicting etc. at the motor in the article originally, can calculate and
come from and go the car position and map materials which needs clear
Sao area , and utilize the map materials to do the car route rule walk to
draw, match the electronic compass and revise the error, and reach the
effective area and cruise.

並列關鍵字

AVG

參考文獻

[1] Jin-Woo Lee., Sung-Uk Choi., Chang-Hoon Lee., Young-Jin

Lee., Kwon-SoonLee;＂A study for AGV steering control and identification

International Symposium

on Volume 3, 12-16 June 2001 pp.1575 – 1578 vol.3

International Conference on Volume 2, 4-8 Nov. 1996 pp.