運用三超音波感測器及CCD相機於車行機器人停車入庫之研究

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研究生：	王隆穎 Long-In wang
論文名稱：	運用三超音波感測器及CCD相機於車行機器人停車入庫之研究 Back-Parking Control of the Car via Tri-ultrasonic Sensors and CCD Camera
指導教授：	鍾鴻源 Hung-Yuan Chung
口試委員:
學位類別：	碩士 Master
系所名稱：	資訊電機學院 - 電機工程學系 Department of Electrical Engineering
畢業學年度：	90
語文別：	英文
論文頁數：	48
中文關鍵詞：	倒車入庫、CCD 、超音波感測器
外文關鍵詞：	ultrasonic sensor, CCD, back parking
相關次數：	點閱：13 下載：0
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為了使一台車行機器人在一個不確定的環境中，行動的更有效率，必須使用各種不同的感測器，偵測架構出機器人行走的路徑。在本篇論文中，三個超音波感測器及CCD攝影機被安裝於車行機器人上，用來控制倒車入庫的行為。整個路徑之規劃類似駕駛員將車子倒車入庫一般。一般而言，車子移動的速度並不是固定的，所以我們必須以人類的經驗來完成車子倒車入庫的行為。

In this paper, the tri-ultrasonic sensors and CCD camera are installed on a car-like mobile robot to control back-parking behavior. To move efficiently in an uncertain environment, a mobile robot utilizes the observations taken by various sensors to construct information for path planning and execution. The entire path planning that mimics a person’s action driving a car back into the parking space. In general, the speed of the car is not fixed, so we have to exploit the human experience to implement the back-driving behavior.

Table of Content
Page
Abstract ……………………………………….……….………………Ⅰ
Table of Content ……..…..………….………………………………. Ⅱ
Chapter 1: Introduction …………….………………………..……... 1
1-1 Background ………………………………………………………... 1
1-2 Motivation …………………………………………………………. 1
1-3 Organization ……………………………………………………….. 2
Chapter 2: The Hardware Architecture of the Robot and the Sensor
System ……………………………………………. 3
2-1 Introduction ……………………………………………………….... 3
2-2 The hardware architecture of the mobile robot system……………... 3
2-2-1 Driver Unit …...………………………………………………. 5
2-2-2 Data Acquisition Card(PCL-818L) …………………………. ..8
2-3 The Sensor System ……………………………………………….. 9
2-3-1 Ultrasonic Transducers …………………………………….... 10
2-3-2 Ultrasonic Ranging Module ………………………………… 11
2-3-3 CCD Camera ………………………………………………... 15
2-3-4 Frame Grabber………………………………………………..15
Chapter 3: Basic Principles of Ultrasonic Sensors and CCD
Cameras ………………………………..………………… 18
3-1 Introduction ……………………………………………………18
3-2 The Basic Principles of Ultrasonic Sensors ……………………… 18
3-2-1 The ultrasonic ranging systems ………………………… 18
3-2-2 The Physical Model of Ultrasound ……………….. 20
3-3 The Principles of Image Processing ……………………………… 21
Chapter 4: Back Parking Reference Path Planning ……….…….… 24
4-1 Introduction ……..………………………...………………………. 24
4-2 Model of the Car-like mobile robot ………………………………. ..24
4-3 Reference Path Based Back Parking ……………………................. 25
Chapter 5: Automated Parking Process .……………….……… 28
5-1 Introduction ……………………………………………………….. 28
5-2 Plane Tracking ……………………………………………….….. 29
5-3 Scanning Parking Space ..………………………………………. 34
5-4 Maneuvering ……………………………..…………………….. 35
5-5 Summary ……………………………………………………… 36
Chapter 6: Experiment Results and Discussion……..…………….… 37
6-1 Introduction …………………………………………………….… 37
6-2 Operation in programming ...……………………………………… 37
6-3 Experiments Verifications ……………………………………….... 41
6-3-1 Physical Parameter ….………………………..…………… 41
6-3-2 Experiment Results ……….…………..………………… 42
6-4 Discussion ………………………………………………………… 45
Chapter 7: Conclusions and Recommendations ……….………… 46
References …………………………………….………………………. 47

                                

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