Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/7939
DC FieldValueLanguage
dc.contributor.advisor蔡清池zh_TW
dc.contributor.advisorC.C.Tsaien_US
dc.contributor.author黃詠亭zh_TW
dc.contributor.authorHuang, Yung-Tingen_US
dc.date2004zh_TW
dc.date.accessioned2014-06-06T06:40:46Z-
dc.date.available2014-06-06T06:40:46Z-
dc.identifier.urihttp://hdl.handle.net/11455/7939-
dc.description.abstract本論文的研究目的在發展多感測器行動服務機器人之半自主與全自主動控制的方法學與技術。機電整合設計方法被用來建造適用於任何室內平坦的環境來遠端伺服搖控機器人。包含手動,半自主與全自主三種操作模式被設計來讓使用者更簡單以及有效的操作機器人。基於雷射掃描儀以及影像攝影機,本文發展出使用搖桿來達成遠端搖控手動操作技術。在半自主方面,利用里程推算,低價陀羅儀,影像攝影機來發展四種功能性操作。全自主控制技術應用反應導航方法來控制機器人使其能夠很平滑地從任何起始姿態到目標姿態。數個電腦模擬以及實驗數據被用以檢驗本文所提之設計方法的可行性與有效性。zh_TW
dc.description.abstractThis thesis develops methodologies and techniques for semi-autonomous and full autonomous control of a multisensory wheeled service robot. A mechatronic design approach is used to construct a remotely controlled service robot vehicle which performs missions at any indoor flat environments. Three user-friendly operation modes, including manual, semi-autonomous and autonomous modes, are designed to steer the vehicle easily and effectively. A remote manual control technique using a joystick is developed based on laser scanning and CCD measurements. Four functions in the semi-autonomous mode are presented utilizing a dead-reckoning device, a lost-cost gyro and a CCD camera. In the autonomous mode, a novel hybrid navigation approach is proposed to smoothly move the vehicle from any initial posture to a desired posture. Several simulations and experiments are conducted to show the efficacy of the proposed methods and systems.en_US
dc.description.tableofcontentsContents Chinese Abstract i English Abstract ii Acknowledgments iii Contents iv List of Figures ix Chapter 1 Introduction 1 1.1 Introduction 1 1.2 Literature Review 2 1.3 Contributions of the Thesis 3 1.4 Organization of the Thesis 4 Chapter 2 Control Architecture and Remote Manual Steering 5 2.1 Introduction 5 2.2 Description of a the Multisensory Mobile Service Robot and Control System 6 2.3 Detailed Computation Architecture 10 2.3.1 Hardware Aspect 10 2.3.2 Digital Interfacing Cards 10 2.3.3 IPC Com Port Distribution 11 2.3.4 Operation System 11 2.3.5 Software Environment 11 2.4 Motion Control Subsystem 12 2.5 Power Supply Subsystem 13 2.6 Vehicle Sensing Subsystem 13 2.6.1 Auto Gyro Navigator 13 2.6.2 EVI-D30 CCD Camera 14 2.7 Laser Scanning Subsystem 19 2.7.1 Basics of the LMS System 19 2.7.2 Hardware Setup 21 2.7.2.1 Required Components 21 2.7.2.2 Power Supply 22 2.7.2.3 Serial Interface for Data Exchange 22 2.7.2.4 Communication Setup and Software 25 2.8 Vehicle Kinematics Model 27 2.9 Interactive Remote Manual Control 27 2.10 Concluding Remarks 35 Chapter 3 Synthesis of Semi-Autonomous Control 37 3.1 Introduction 37 3.2 Gyro-Controlled Turning 39 3.2.1 Gyro-Controlled Turning Control 39 3.2.2 Computer Simulations 41 3.2.3 Experimental Results 43 3.3 Gyro-Locked Heading 47 3.3.1 Gyro-Locked Heading Control Law Design 47 3.3.2 Computer Simulations 49 3.3.3 Experimental Results 51 3.4 Camera-Controlled Turning 55 3.4.1 Control Law Design 55 3.4.2 Computer Simulations 59 3.4.3 Experimental Results 59 3.5 Camera-Locked Heading 63 3.5.1 Controller Development 63 3.5.2 Computer Simulations 66 3.5.3 Experimental Results 69 3.6 Concluding Remarks 75 Chapter 4 Design of Autonomous Control 76 4.1 Introduction 75 4.2 Fuzzy-Inspired Goal Seeking 78 4.2.1 Fuzzy-Inspired Nonlinear Control Law 78 4.2.2 Computer Simulations 83 4.2.3 Experimental Results 87 4.3 The Obstacle Avoidance Behavior 90 4.3.1 Obstacle Avoidance Control Law 90 4.3.2 Experimental Results 93 4.4 Reactive Autonomous Control Design 95 4.4.1 Fuzzy Reactive Navigation Control Law 95 4.4.2 Experimental Results 97 4.5 Concluding Remarks 101 Chapter 5 Conclusions and Future Work 102 5.1 Conclusions 102 5.2 Future Work 103 References 105en_US
dc.language.isoen_USzh_TW
dc.publisher電機工程學系zh_TW
dc.subjectsemi-autonomousen_US
dc.subject半自主zh_TW
dc.subjectfull autonomousen_US
dc.subjectmobile service roboten_US
dc.subject全自主zh_TW
dc.subject行動服務機器人zh_TW
dc.title多感測器行動服務機器人之半自主與全自主控制zh_TW
dc.titleSemi and Fully Autonomous Control of a Multisensory Mobile Service Roboten_US
dc.typeThesis and Dissertationzh_TW
item.languageiso639-1en_US-
item.openairetypeThesis and Dissertation-
item.cerifentitytypePublications-
item.grantfulltextnone-
item.fulltextno fulltext-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
Appears in Collections:電機工程學系所
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