二輪式載具二維導航控制之研究

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姓名

鍾庭生(Ting-sheng Zhong) 查詢紙本館藏

畢業系所

機械工程學系

論文名稱

二輪式載具二維導航控制之研究

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摘要(中)

本論文的目的在於開發出具備自動導航功能的二輪式載具，本文提出了結合了T型路徑內差前饋和PI回饋的循跡控制演算法，並基於此演算法開發出二輪式載具用的運動控制器，搭配上行車電腦、雷射測距儀、伺服馬達和伺服馬達驅動器共同實現自走車自動導航的功能。目前研究已完成了系統之機構、硬體設備以及控制軟體，並在模擬和實際環境的測試中驗證了自走車路經追蹤的功能。

摘要(英)

The purpose of this paper is to develop a two-wheeled vehicle with auto navigation function. In this paper, a tracking algorithm that combining with T-Curve path linearization feedforward control and PI feedback control was proposed. Based on this algorithm, a motion controller for two-wheeled vehicle was developed, cooperate with navigation computer, laser scanner, servo motor and servo motor driver to achieve auto navigation function. In this research, mechanical structure, hardware and control software of the system have been developed so far. The path tracking fuction of the two-wheeled vehicle has been tested and and approved in both simulation and real environment test.

關鍵字(中)

★ 導航控制研究

關鍵字(英)

論文目次

本論文包含
第一章緒論，描述研究動機目的，文獻回顧及研究構想
第二章理論基礎，說明計劃目標與理論基礎
第三章系統設計，說明軟硬體設計與具體實現
第四章實驗設計
第五章結論

參考文獻

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[7] Felipe K¨uhne Walter Fetter Lages Jo˜ao Manoel Gomes da Silva Jr.,” Model Predictive Control of a Mobile Robot Using Linearization”, APS / ECM
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[9] Julio E.Normey-Rico, Ismael Alcala, Juan Goomez-Ortega, Eduardo F.Camacho,” Mobile robot path tracking using a robust PID controller”, Control Engineering Practice 9 (2001) 1209–1214

[10] ZHONG-PING JIANG and HENK NIJMEIJER,” Tracking Control of Mobile Robots: A Case Study in Backstepping” Automatica, Vol. 33, No, 7, pp. 1393-1399, 1997

指導教授

江士標

審核日期

2015-7-23

推文