汽油引擎動力載具的轉向機構及自走運動控制系統之開發

本研究將三陽機車(Mio110)改裝為一部四輪的載具，保留原車架及引擎動力單元做為後輪驅動之用。本論文開發了轉向機構及循邊(路緣石)自走控制系統。控制系統以載具能以時速5KM循路緣行走，並能自動避障為目標，未來將在本載具上加掛自動清掃機構，並將前輪改裝為輪毂馬達，使能成為一部庭園自動清掃的油電混和動力機器人。本論文以PIC18F4520做為核心控制器，周邊配置超音波感測器做為循路緣行走及避障的感測器，運動控制系統會依據周邊感測器回饋的綜合訊號修正轉向機構，使載具能沿著路緣行走，並能自動避障。

關鍵字

循邊自走；單晶片；轉向系統

並列摘要

In this study, we converted the Sanyang Motorcycle (Mio110,) into a four-wheel vehicle, retain the original frame and engine power unit as the rear-wheel system. This paper has developed a steering mechanism and edge tracing autonomous control system. Such a vehicle can move at a speed of 5KM and automatic obstacle avoidance, In the future, we will add an auto-cleaning agencies in this vehicle and change front wheel to a hub motor, so that can become a garden automatically clean up and the gasoline-electric hybrid robot. In this thesis, PIC18F4520 was used as the controller, and ultrasonic sensor were fixed around the vehicle as the edge tracing and obstacle avoidance sensors. According the feedback signal from surrounding sensors, the control system will drive the vehicle move along the road edge and obstacle avoidance.