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題 名 | 自走車控制設計=The Automatic Mobil Vehicle Control Design |
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作 者 | 黃燕文; 孔光源; 彭紹瑋; | 書刊名 | 桃園創新學報 |
卷 期 | 34 2014.12[民103.12] |
頁 次 | 頁1-15 |
分類號 | 448.94 |
關鍵詞 | 自走車; 單板電腦; 紅外線光感測器; 超音波感測器; 自動導引車; Automatic mobil vehicle; AMV; Single board computer; Infrared sensor; Ultrasonic sensor; Automatic guide vehicle; AGV; |
語 文 | 中文(Chinese) |
中文摘要 | 本論文的目的是發展自走車系統之馬達驅動控制、避障與循跡規劃。自走車的控制中心是使用單板電腦,車上硬體包括感測器部分與驅動部分。感測器部分是以超音波感測器與紅外線感測器為主要感測元件;驅動部分是以直流馬達作為自走車的動力來源。在循跡規劃方面,利用裝置在自走車上的紅外線感測器來偵測出自走車與可以沿著電工膠帶貼成的彎曲軌道自動前進的自走車,在避障規劃方面,利用裝置在自走車上的超音波感測器來偵測出自走車與障礙物的距離,讓自走車能行走在未知的環境中,以達成避障的目的。人機控制介面是以 Basic Commander單板電腦為基礎,並配合 USB傳輸來傳送控制指令和接收從自走車或超音波感測器與紅外線感測器所回傳的資料馬達的驅動控制馬達之目的。 |
英文摘要 | Automatic Mobil Vehicle (AMV) develops the unction of driving control of motor and obstacles avoiding and tracing plan. The AMV uses a single board computer, and its hardware includes the sensing obstacle-avoiding and tracking part and the driving part. The driving power source of the AMV is assembled by two DC motors. The sensing obstacle-avoiding part is assembled by one ultrasonic sensor, and the tracking sensing is assembled by three infrared sensors. The control principle and programming integration is developed to do a self-propelled vehicle autonomy movement. The infrared sensors do the tracking function control to detect the tract on the ground. In the obstacles avoiding plan, the ultrasonic sensor is mounted on the AMV to detect distance the AMV and obstacles. The objective of the avoiding obstacles is enabling AMV moving in the unknown environment. The human-machine interface, using USB communication transmission command and receiving data from AMV or ultrasonic sensor and infrared sensor, has constructed by Basic commander single board computer. |
本系統中英文摘要資訊取自各篇刊載內容。