臺灣博碩士論文加值系統

本文主要設計一具有視覺功能的輪型機器人避障系統，規劃軌跡、控制機器人有效追循設定的路徑行進。控制系統主要依據線性控制演算法及模糊控制演算法，控制機器人的運動。機器人行進時，當聲納感測前方有障礙物，系統將擷取影像，進行影像處理得到機器人與障礙間的距離值，產生最佳的避障路徑，使機器能安全地通過障礙物而抵達目標。本文首先建立機器人的數學模式，根據輪型機器人的驅動方式進行控制法則的設計，機器人行進中分別以模糊控制與線性控制，輸出左右兩輪的輪速命令，以控制其行進速度與方向，完成目標導航的控制目的。對於軌跡規劃方式，本文應用直線、弧形、圓形三種軌跡，測試機器人的追蹤成效，最後由模擬與實驗結果驗證，避障控制系統的有效性與實用性。

In this thesis, a vision-based intelligent control of mobile robots for obstacle avoidance is investigated. The control system, which is based on the linear control algorithm and the fuzzy control algorithm, is developed to conduct the motion of the mobile robot. When the sonar detects obstacles in front of the robot, the controller will turn on the camera to capture the image and perform image processing to obtain the distance between the robot and the obstacle. Then the best trajectory to avoid the obstacle is determined. Analytic study is starting from investigation of the mathematical model of the mobile robot. The control algorithms to deal with various driving conditions are derived accordingly. Based on the approach, the fuzzy control law is applied at the beginning and final stage and the linear control law is mainly devoted to the linear motion during the trajectory control. The wheel speed commands of the left and right are regarded as the output of controller to manipulate the robot’s speed and direction. Moreover, three kinds of trajectories straight line, curved line and circular line are utilized to test the performance of tracking control. At last, the effectiveness and the practicality of the proposed obstacle avoidance control system is validated by simulation and experimental results.

摘要 ...................................... i
Abstract .................................. ii
誌謝 ...................................... iii
目錄 ...................................... iv
表目錄 .................................... vi
圖目錄 .................................... vii
符號說明 .................................. ix
第一章 緒論 ............................... 1
1.1前言 .................................. 1
1.2研究動機與目的..................... 1
1.3研究方法 ............................... 2
1.4論文大綱 ............................... 2
第二章 機器人系統建構 ................ 3
2.1系統結構 ............................... 3
2.1.1 硬體 ................................ 3
2.1.2 軟體 ................................ 4
2.2機器人運動模式 ..................... 7
2.3線性控制演算方法 .................. 8
2.4模糊控制演算方法 ................. 10
第三章 視覺功能 ....................... 15
3.1前言 .................................. 15
3.2影像處理 .............................. 15
3.3障礙物檢測 ......................... 27
第四章 避障系統之設計 ............... 30
4.1前言 .................................. 30
4.2軌跡規劃 .............................. 30
4.3避障軌跡設計 .......................... 36
第五章 實驗結果 ........................... 40
5.1模擬結果 .............................. 40
5.2無避障軌跡實驗結果 ............... 48
5.3避障軌跡實驗結果 ................. 54
第六章 結論與未來展望 ............... 60
6.1結論 .................................. 60
6.2未來展望 .............................. 60
參考文獻 ................................. 61
Extended Abstract ................... 64

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