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系統識別號 U0026-1708201120110900
論文名稱(中文) 四輪轉向與四輪驅動移動式機器人之自我定位與控制運用
論文名稱(英文) Localization and Control Applications of a Four-Wheel Steering and Four-Wheel Drive Mobile Robot
校院名稱 成功大學
系所名稱(中) 電機工程學系碩博士班
系所名稱(英) Department of Electrical Engineering
學年度 99
學期 2
出版年 100
研究生(中文) 蕭書銘
研究生(英文) Su-Ming Hsiao
學號 n26984290
學位類別 碩士
語文別 英文
論文頁數 67頁
口試委員 指導教授-李祖聖
口試委員-呂虹慶
口試委員-孔蕃鉅
口試委員-郭逸平
口試委員-王明賢
中文關鍵字 瞬時迴轉中心  粒子濾波器  A*路徑規劃演算法  動態視窗避障 
英文關鍵字 Instantaneous Center of Rotation (ICR)  Rao-Blackwellized particle filter  A* algorithm  Dynamic Window Approach (DWA) 
學科別分類
中文摘要 本論文主要在探討四輪轉向與四輪驅動移動式機器人之自我定位與控制應用。結合了四輪轉向與四輪驅動移動方式於機器人並整合許多方面研究題材,包含了機器人運動控制、基於已知地圖自我定位、避障導航、路徑規劃以及行為策略。四輪轉向與四輪驅動使機器人可以更多元且靈活的方式移動。本論文藉由瞬時迴轉中心(ICR)方法來實現機器人的運動控制。以Rao-Blackwellised 粒子濾波器融合里程計資訊與雷射量測距離資訊來達到機器人的自我定位。機器人導航的部分使用A*演算法實現路徑規劃與動態視窗(DWA)避障方法執行安全的防範。最後實驗結果展現所設計之機器人系統,可成功完成2011新光智慧型保全機器人競賽的各項任務。
英文摘要 This thesis is mainly to concern the localization and control applications of a four-wheel steering and four-wheel drive (4WS4WD) mobile robot. The 4WS4WD combines with the benefits of the 4WD structure and the advantages of a 4WS system, which has the better performance of lateral dynamics. There are many topics combined with the 4WS4WD mobile robot such as motion control, self-localization based on a known map, obstacle avoidance, path planning and control strategy. The Instantaneous Center of Rotation (ICR) has been adopted for the 4WS4WD mobile robot. The localization based on known map carries out the Rao-Blackwellised particle filter method and it is computed via the distance measurement by a laser range finder and the movement of the robot estimated by an odometer. A mobile robot navigation system is used by the A* algorithm for path planning and the Dynamic Window Approach (DWA) safely controlled by the mobile robot is used for obstacle avoidance. The experimental results demonstrate that the robot can successfully conquer many kinds of terrain and carry out all the tasks in the 2011 SKS Intelligent Security Robot Competition.
論文目次 Abstract Ⅰ
Acknowledgement Ⅲ
Contents Ⅳ
List of Figures ⅥI
List of Tables Ⅹ

Chapter 1. Introduction 1
1.1 Motivation 1
1.2 Thesis Organization 2
Chapter 2. Hardware of the 4WS4WD Mobile Robot 4
2.1 Introduction 4
2.2 Mechanism Design 5
2.3 Measurement and Vision System 7
2.3.1 Measurement System 8
2.3.2 Image Sensor 9
2.4 Actuators and Control Strategy System 10
2.4.1 Actuators 10
2.4.2 Central Processing Unit 12
2.5 Power System 14
2.6 Summary 16
Chapter 3. Motion Control and Localization System 17
3.1 Introduction 17
3.2 Measurement System 18
3.3 Motion Control System 22
3.3.1 Instantaneous Center of Rotation 23
3.3.2 Robotic Maneuver Control 27
3.4 Localization System 30
3.4.1 Rao-Blackwellized Particle Filter 31
3.4.2 Optimization for Localization Method 34
3.5 Summary 38
Chapter 4. Control Applications of the 4WS4WD Mobile Robot 39
4.1 Introduction 39
4.2 Rules of 2011 SKS Intelligent Security Robot Competition 40
4.3 Common Functions of the Control Strategy 43
4.3.1 Path Planning and Navigation 44
4.3.2 Obstacle Avoidance 46
4.3.3 Automatic Barriers Detection 48
4.4 The Framework of Control Strategy System 49
4.5 Summary 52
Chapter 5. Experimental Results 53
5.1 Introduction 53
5.2 Experimental Results of the Motion Control System 54
5.3 Experimental Results of Path Planning and Localization System 58
5.4 Experimental Results of SKS Intelligent Security Robot Competition 60
Chapter 6. Conclusion and Future Work 63
6.1 Conclusion 63
6.2 Future Work 64
References 65
Biography 67
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