本研究主旨是希望設計並製造一種可變式調整輪距功能之機器人載具,並控制與實現,該載具係具有前後左右變化輪距的功能,有助於使用者自行因應所需而設定調整。整個系統以Micro chip F4011作為主控核心,整合馬達控制、電路訊號擷取,並將模糊控制器建構在系統晶片本身並與Kinect結合,實現模糊控制及自動導航的機器人系統。 此機器人基本上有如電動輪椅,但為輪型機器人,在室內辦公、做家事等服務時,由於周遭環境狹窄,以及服務時移動速度需要降低,故車體必須將輪距縮小,以減少撞擊物體的可能性,形成低速模式。在室外代步時,將車體變形成高速模式,使兩輪以及後輪的間距加大,降低重心位置,並將座椅微調後傾,藉以達到增加速度時的整體穩定性與乘坐者的舒適性。
This dissertation presents a design and fabrication of a wheeled mobile robot with variable wheelbase and track, ananthen control and realization that all around the vehicle system changes with the tread of the features, and to help users set their own response may require adjustments. Microchip F4011 entire system as the master core, integrated motor control circuit signal acquisition, and construction of Fuzzy controller chip in the system itself, combined with the Kinect, implement the Fuzzy control and automatic navigation of robot systems. This robot has the function of electric wheelchair. When the robot works indoors, it has to reduce the wheelbase and track in order to avoid an obstacle. And slow down the speed of the wheeled mobile robot. When the robot works outdoors, the wheeled mobile robot transforms into high-speed mode. The wheelbase and track of the wheeled mobile robot is increased, and the center of gravity is lower than low-speed mode. It has the advantage of stability, and makes the rider comfortable.