自主性載具與智慧型手機遠端監控平台開發

在科技的日新月異下，智慧型手機的使用逐漸成為趨勢，其相關擴展應用變成一項十分熱門的議題。而自主性無人載具系統在先進國家已具有相當多的應用實例與發展潛能，未來各領域應用上深具發展性。故本研究旨在開發一套地面無人載具 (自走車)，並結合建立在Android智慧型手機上的遠端命令監控系統。由於Android平台具有多工、圖形介面及開放的程式碼，大幅的增加開發的便利性。在本研究中，成功地開發一套可使用在無人載具系統的小型遠端監控站。使用者可由智慧手機的地圖畫面直接點選任意位置來當作目標點，該命令將透過手機藍芽(Bluetooth)自動傳送到載具執行。同時，手機螢幕亦能顯示任務中載具系統之即時資訊，如目前位置、路徑軌跡、以及電池電量等自走車相關資訊，並將其記錄在手機裡。另一方面，本研究中開發的自走車乃嵌入Arduino系統來作為主要計算/控制平台，負責控制無人載具各項元件以及執行自動駕駛程式。在收到手機藍芽傳來的目標點座標後，車載GPS將立即比對目前自身與目標間之位置差，透過自動駕駛程式依序驅動各項馬達與伺服，最終達成多點自動駕駛之功能。

關鍵字

智慧型手機；遠端監控站；自走車

並列摘要

With the rapid growth of computer technology, the usages of the smartphone and unmanned vehicle system have already become a big trend. The extension of smartphone and unmanned system are now both reaching their frontiers in many fields. The purpose of this research is to develop an autonomous unmanned ground vehicle system with a smartphone-based remote command/monitor device. The Android operating system in smartphone features multi-tasking, graphical-interface, and open-source that allows great convenience for the developer. For the first part of this thesis, is aiming at creating a smartphone-based, pocket portable remote control station for future small unmanned system. The user can define their target-locations (waypoints) simply by touching smartphone screen, and these waypoint commands will be sent to the vehicle by phone’s Bluetooth module automatically. During mission, the phone screen also displays real-time information from operating vehicle to the user, such as current position on map, trajectory, battery health,and so on. Then the storage data will be saved in the phone memory card. Another important part of the research is to develop an autonomous ground vehicle as our experiment platform. Two Arduino IC boards are embedded in an R/C toy car to play a role as onboard computing platform; they mainly control all onboard mech-electrical components and execute the self-develop autopilot software. Once Arduino receive the waypoint commands from onboard Bluetooth module, a series of computation will be triggered to perform autopilot computing hence generate a set of PWM values for driving vehicle’s motors and servos. A series of successful autopilot tests has been achieved as yet.

並列關鍵字

Android Smartphone ； Remote Control Panel ； Arduino IC ； Unmanned Groud Vehicle

參考文獻

[2] 高崇洋、劉國青，”災害處理機器人研發”，行政院勞工委員會勞工安全衛生研究所，2009

[7] R.Piyare, M.Tazil,” BLUETOOTH BASED HOME AUTOMATION SYSTEM USING CELL PHONE” IEEE 15th International Symposium on Consumer Electronics,2011

[8] 江集祥，” MA4:使用Android MID 與Arduino 平台之行動式動作分析”，大同大學資訊工程研究所碩士論文，2010

[16] Swetland, “Some clarification on “the Android Kernel”,

[1] Mr./Ms. Days(MMDays),

Google Scholar

國際替代計量

自主性載具與智慧型手機遠端監控平台開發

未授權

主題瀏覽