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題名 | 以空間向量為基礎之自動導航車路徑規劃=A Space Vector Approach for Path Planning of Autonomous Guided Vehicle |
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作者 | 潘亞東; 徐進浩; Pan, Ya-dung; Hsu, Chin-hao; |
期刊 | 龍華科技大學學報 |
出版日期 | 20051200 |
卷期 | 20 民94.12 |
頁次 | 頁43-59 |
分類號 | 557.3 |
語文 | chi |
關鍵詞 | 自動導航車; 空間向量法; 超音波感測器; 路徑規劃; Autonomous sonar guided vehicle; Space vector method; Path planning; |
中文摘要 | 本論文旨在發展一臺具有路徑規劃並具有避障功能之超音波自動導航車。本文以空間向量的方法,讓自動導航車避開障礙物,到達所指定之目標。其空間向量的方法包含了吸引力,排斥力與慣性力,可解決場效函數法在局部極小值的問題,也就是自動導航車在原地反覆的移動。並應用自動導航車之超音波感測器,製作出周遭環境的地形輪廓。本論文是以Microsoft Visual Studio. NET 2003的C++與C#設計其控制介面,用來操控自動導航車Pioneer 3-DX。 |
英文摘要 | This research has developed an autonomous sonar guided vehicle (AGV) with the capability of path planning and obstacle avoidance. A modified space vector method has been applied for the AGV to find a collision free path from the initial position to the desired final goal position. The modified space vector methods has combined the attracting force, rejecting force, and inertia force, to solve the problem of local minimum in potential field approach. The supersonic sonars in AGV are also used to draw the obstacle contour in the navigation environment. A user interface using Microsoft Visual Studio .NET 2003 C++ and C# has been developed to control the Pioneer3-DX AGV. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。