導航機器人之研製｜國立中央大學博碩士論文系統

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研究生：	楊智翔 Chih-Hsiang Yang
論文名稱：	導航機器人之研製 The Development of a Navigation Mobile Robot
指導教授：	蘇木春 Mu-Chun Su
口試委員:
學位類別：	碩士 Master
系所名稱：	資訊電機學院 - 資訊工程學系 Department of Computer Science & Information Engineering
畢業學年度：	98
語文別：	中文
論文頁數：	91
中文關鍵詞：	定位、避障、路徑規劃、導航、機器人
外文關鍵詞：	path planning, obstacle avoidance, robot, navigation, localization
相關次數：	點閱：18 下載：0
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機器人的出現一開始主要是為了代替人類從事一些具高危險性、高精密性或是高重複性的工作，以降低工作的風險與成本。隨著科技的進步，智慧型機器人的發展所涵蓋領域相當廣泛，舉凡軍事、工業、生活、醫療、娛樂…等等應用，人類對於智慧型機器人的需求與日俱增，因此如何設計與研製一台智慧型機器人是我們的首要目標。
對於智慧型機器人而言，導航、定位、避障都是不可或缺的主要功能。因此本論文設計與研製了一台導航機器人，其無障礙的任意走向具有擬人化的行為；在定位方面，採用滑鼠與陀螺儀來估測目前的位置；而即時避障系統採用向量場直方圖(Vector Field Histogram)的技術來達成。因此，可以在未知的環境下，利用沿牆行走演算法進行探索;在已知的環境中透過廣度優先搜尋(Breadth-first search)最短路徑規劃法和即時避障系統順利到達目標地。此外，也可以透過軟體模擬無線遙控器直接對導航機器人下達指令，使其具有多元化功能的智慧型機器人。

One of the original application purposes of robots is to replace humans to work in a high risk environment and/or to complete tasks with a request of high precision or repetitive procedures. As modern electronics and information technologies advance, the applications of intelligent robots widely cover the many different domains, such as in the military industry, autonomous industries, life environments, health caring facilities, entertainment, and so on. As the need of an intelligent robot grows day by day, how to design and develop an intelligent robot is a very challenging task. For intelligent robots, three most essential functionalities are autonomous navigation, localization (positioning) and obstacle avoidance. Therefore, this thesis presents a navigation robot which moves in an omni-directional way just like an anthropomorphic behavior. In positioning, we use a mouse and a gyroscope to estimate the current location of the robot. In addition, we use the Vector Field Histogram algorithm to implement a real-time obstacle avoidance system. While we use a wall-following algorithm to explore an unknown environment, we plan a shortest path in a known environment by the Breadth-first search algorithm. Furthermore, we use a real-time obstacle avoidance system simultaneously to during the navigation tour. In addition, we also develop a software application to simulate a controller to wireless command the robot. Finally, an intelligent robot with multiple functionalities was implemented.

摘要 .............................................................................. i
ABSTRACT .................................................................. ii
誌謝 .............................................................................. iii
目錄 .............................................................................. iv
圖目錄 .......................................................................... vi
表目錄 .......................................................................... viii
第一章 緒論 ................................................................. 1
1-1 研究背景 ................................................................ 1
1-2 文獻探討 ................................................................ 3
1-3 研究動機與目的 .................................................... 5
1-4 論文架構 ................................................................ 6
第二章 硬體架構和規格 ............................................. 7
2-1 車體結構設計 ........................................................ 8
2-1-1 第一層平台 ......................................................... 9
2-1-2 第二層平台 ......................................................... 9
2-1-3 第三層平台 ......................................................... 9
2-2 核心控制電路-AVR開發板 .................................. 10
2-2-1 直流馬達方向和速度訊號輸出板 .................... 10
2-2-2 紅外線接收板 .................................................... 12
2-3 直流馬達和直流馬達驅動控制板 ........................ 13
2-3-1 IG-42GM直流馬達 ............................................. 13
2-3-2 直流馬達驅動控制板 ........................................ 16
2-4 全向輪 .................................................................... 18
2-5 滑鼠 ........................................................................ 18
2-6 紅外線模組 ............................................................ 19
2-7 電池與穩壓電路 .................................................... 21
2-8 陀螺儀 .................................................................... 22
第三章 機器人系統控制設計及原理 ......................... 24
3-1 機器人控制流程概觀 ............................................ 24
3-2 三輪運動學模型 .................................................... 26
3-3 全方位走向的實現 ................................................ 29
3-4 機器人定位系統 .................................................... 34
第四章 行走模式 ......................................................... 38
4-1 機器人即時避障系統 ............................................ 39
4-2 沿牆行走 ................................................................ 44
4-3 BFS最短路徑規劃 .................................................. 49
第五章 實驗結果 .......................................................... 52
5-1 機器人的全方位走向實驗 ..................................... 52
5-2 沿牆行走實驗 ......................................................... 56
5-2-1 正方型 .................................................................. 56
5-2-2 L型 ........................................................................ 58
5-2-3 N型 ....................................................................... 59
5-3 BFS最短路徑規劃實驗 ........................................... 61
5-3-1 實驗環境1-無障礙物 ........................................... 61
5-3-2 實驗環境2-單一障礙物 ....................................... 63
5-3-3 實驗環境3-多個障礙物 ....................................... 67
第六章 結論與未來展望 ............................................... 71
6-1 結論 .......................................................................... 71
6-2 未來展望 .................................................................. 72
參考文獻 ........................................................................ 73
附錄1 GP2D12距離、電壓、ADC對照表 .................... 76

                                

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