本篇論文主要利用各種不同的距離感測器來偵測輪型機器人周遭的環境,並針對感測器的特性來開發機器人的各種基礎功能。透過超音波距離感測器陣列,開發避障演算法,當機器人遇到障礙物時,能尋找可通行的方向且安全避開障礙物,並與紅外線遙控收發模組結合,完成跟隨的功能。利用紅外線距離感測器來偵測環境場景,將環境樣貌顯示在格子狀地圖上。並由紅外線距離感測器建立的環境地圖中,透過A*搜尋演算法規劃機器人的最短路線,讓機器人在實際的環境中依據規劃的路徑到達目的地。而對於高速行駛情況下,使用雷射測距儀來偵測駕駛者前方的環境狀況,分析在不同的速度下,雷射測距儀對障礙物的判斷情形。
In this thesis, we use different distance measurement sensors to detect the environment around the mobile robot and develop basic features of robots according to the characteristics of sensors. We develop the obstacle avoidance algorithm by ultrasonic sensor array. When the robot detects the obstacle, it can find the forward direction that could pass and safely avoid the barrier. And we finish the target following by combining the algorithm with infrared transducer module. We display the environment scene on the grid map using the infrared distance measurement sensor array to detect the surrounding. In addition, we plan a shortest path in a known environment by the A* search algorithm and let the robot arrive the destination in the real world according to the path that we plan. In the high speed conditions, we use the laser range finder to detect the environment, and we analysis the measurement information from the laser range finder in different speeds.