整合超音波避障與衛星定位及羅盤定向能力之自動導航自走車設計與製作

Vehicle Navigation by Integrating Ultrasonic Obstacle Avoidance, GPS and Compass Orienting Technique

劉孝忠(Hsiao-Chung Liu)

《中華科技大學學報》 58期 (2014/01) Pp. 91-111

摘要

本文旨在設計一台以單晶片為控制核心，具衛星導航與超音波避障及電子羅盤定向能力之小型四輪驅動自走車，首先輸入欲到達目的地位置之經緯度資訊，藉由車載GPS（Global Positioning System）可獲得自走車起始點的經緯度資訊，藉由兩點之經緯度資訊可計算出自走車運動之方向與距離，行進中若遇到障礙物可由超音波測距適時躲避與轉向，接下來再利用電子羅盤定向將自走車調整回正確的運動方向直到抵達目的地為止。整個硬體架構包含了車體的機構設計與製造、直流馬達控制系統、衛星導航、電子羅盤定向、超音波避障及紅外線防墜落等部份，軟體部分採用Basic Stamp單晶片控制器整合上述所有感測器訊號以控制自走車之運動方向，並將所有感測器訊號呈現在電腦端LabVIEW圖控程式的人機介面上。

關鍵字

衛星導航 ； 超音波避障 ； 羅盤定向

並列摘要

This paper try to design a vehicle navigation system by integrating ultrasonic obstacle avoidance, GPS positioning and compass orienting technique. The vehicle's moving direction and distance between starting point and destination point can be calculated using the longitude and latitude information of the above points, If there is existed an obstacle in front of the vehicle, the vehicle can avoid hitting obstacle by using ultrasonic sensor and subsequently adjust vehicle return to the correct direction of movement until the vehicle reach the destination.Hardware architecture contains the vehicle body's mechanism design and manufacture, controlling system of the DC motor, satellite navigation, compass orienting, ultrasonic obstacle avoidance and infrared fall protection system, etc. A single chip (Basic stamp) integrates the above sensor signal to control the direction of movement of the vehicle, then transmit all the sensor's signal to the computer and presented in the LabVIEW front panel.

並列關鍵字

Satellite Navigation ； Ultrasonic Obstacle Avoidance ； Compass Orienting