本論文研製一台基於ROS (Robot Operating System)系統之自動引導車進行模擬，將ROS系統結合雲端資料庫(AWS)以及Python設計之人機介面的方式來做通訊，本系統所設計的方式皆以開源為主，因此不受限於任何系統架構，這樣一來本論文採用ROS系統在使用上較為方便。本系統的特點有(1)以ROS系統為基礎，設計一台自動引導車，(2)具路線規劃能力，(3)具路平偵測功能，(4)具人性化之操作介面，(5)具雲端大數據管理功能。
以實驗結果來看，基於ROS系統設計的自動引導車，能夠透過ROS當中繪製地圖功能包以及導航效果進行模擬，自動引導車繪製地圖的過程透過Wifi串流方式傳輸至人機介面當中觀看，導航的效果也在串流過程中成功實現，路平偵測方式透過感測器對於行走過程中所產生之震動數值(Vibration)儲存至雲端資料庫，再藉由人機介面透過日期方式呼叫出數值，並判斷檢測數值之相對應危險程度。

In this thesis, an AGV(automatic guided vehicle) based on ROS (Robot Operating System) system is developed for simulation. The ROS system is combined with cloud database and HMI(human-machine interface) for communication. The design of this system is based on open sources which is not limited to any system architecture. Thus, it is more convenient for the use of the ROS system in this thesis. The characteristics of this system includes: (1) an AGV based on ROS system is designed, (2) with route planning ability, (3) with coasted surface detection function, (4) with humanized operation interface, (5) with cloud big data management.
According to the experimental results, the AGV which is based on the ROS system can be simulated through the function package of map drawing and navigation in ROS. The process of map drawing of the AGV can be watched on the HMI designed by Python through the Wifi streaming. The effect of navigation is also successfully realized during the streaming process. The coasted surface detection method stores the vibration value (Vibration) generated by the sensor during walking to the cloud database. The HMI calls out the value through the date and judges the corresponding danger level of the detected value.

摘 要 i
Abstract ii
目錄 iii
表目錄 v
圖目錄 vi
第一章 緒論 1
1.1 研究背景 1
1.2 研究動機與目的 2
1.3 內容大綱 4
第二章 ROS無人車市面產品說明與文獻探討 5
2.1 ROS(Robotics Operation System)機器人運作系統 5
2.2 ROS互動機器人 5
2.3倉儲搬運機器人 7
2.4機械手臂 8
2.5 ROS市面產品與本論文比較 9
第三章 自動引導車之硬體設計 11
3.1 底盤設計 11
3.2 NVIDIA Jetson nano 配置 16
3.3 STM32擴充板配置 17
3.4 激光雷達配置 18
3.5 整體架構配線 19
第四章 人機介面與自動引導車軟體設計 20
4.1 自動引導車NVIDIA Jetson nano 系統架設 20
4.2 架設虛擬機與自動引導車溝通 20
4.3 ROS系統自動引導車建模 21
4.4 STM32擴充板軟體設計 23
4.5 ROS系統導航演算法 29
4.6人機介面與雲端資料庫設計 30
4.7整體系統流程圖 31
第五章 ROS自動引導車與人機介面實驗結果 33
5.1 自動引導車配置 33
5.2 實驗環境 34
5.3 自動引導車繪製地圖與人機介面互動 35
5.4 自動引導車導航 37
5.5 路平偵測 42
5.6 雲端資料庫 47
5.7 結論 47
第六章 總結與未來研究 48
6.1結論 48
6.2未來研究 48
參考文獻 50

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