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題名 | 無人自動車於規劃路徑上閃避未知障礙物之智慧型導航控制=Intelligent Control of Autonomous Guided Vehicle Dodges the Static Unknown Roadblock in the Planning Paths |
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作者姓名(中文) | 王榮爵; 吳文琪; | 書刊名 | 建國學報 |
卷期 | 21 2002.07[民91.07] |
頁次 | 頁519-528 |
分類號 | 448.94 |
關鍵詞 | 無人自動車導航; 模糊控制器; 模糊路徑判斷法則; 超音波感測器; PC-Base; The intelligent autonomous guided vehicle; AGV; Fuzzy path planning algorithm; Fuzzy controller; PC-base; Ultrasonic-wave sensor; |
語文 | 中文(Chinese) |
中文摘要 | 本論文的主要目標,是把模糊理論應用到無人自動車之避障導航上。因此,我們的工作就是設計出模糊路徑判斷法則及模糊控制器,然後應用到無人自動車之避障導航系統之電腦模擬上。在本論文中,我們要求無人自動車導航控制系統能達成的目標有二為:(一)在無未知障礙物的狀況下,能循已規劃之路徑,準確的到達終點。(二)如有未知靜態障礙物落於規劃路徑上,能避開障礙物,並判斷最佳路徑,而回到規劃路徑上,並精確的到達終點。我們所需使用的感測器為超音波感測器及碰撞感測器。藉著皆析感測器所得到的資訊,我們即可測出有無障礙物落於規劃路徑上,若有則測出障礙物的位置及方位,然後使用模糊路徑判斷法則斷最佳避障路徑,再由模糊控制器導航無人自動車完成自動導航的目地。在本論文中,我們也自行設計無人自動車,本自動車為PC-Base之自動車,以方便程式開發及修改功能,並方便日後之持續研究開發。 |
英文摘要 | In the purpose of this paper, we apply the Fuzzy theory to the intelligent autonomous guided vehicle (AGV) system. Therefore, our work is to design the fuzzy path planning algorithm and fuzzy controller, simulate by Lab-View software. Moreover, in this intelligent autonomous guided vehicle research, we will attain the following purposes: (1)according to the planning paths, the AGV correctly arrives at the goal in the environment without the unknown roadblock (2)the AGV dodges the static roadblock which in the planning paths, then correctly arrives at the goal. The ultrasonic-wave sensors and Contract Sensors are considered in this project. From the readings of the sensors at every sampling instant, then we get the positions of the roadblock. The AGV will arrive at the goal by using our fuzzy path planning algorithm and fuzzy controller. On the other hand, we also design our AGV. The AGV is the PC-Base vehicle is easy to develop and research. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。