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系統識別號 U0026-2008201315515800
論文名稱(中文) 利用單一感測器掃描法和危險區域偵測法執行自走車的避障
論文名稱(英文) Unmanned Vehicle Obstacle Avoidance using Single Sensor Scan Method and Danger Zone Estimation
校院名稱 成功大學
系所名稱(中) 航空太空工程學系碩博士班
系所名稱(英) Department of Aeronautics & Astronautics
學年度 101
學期 2
出版年 102
研究生(中文) 林資捷
研究生(英文) Tz-Jie Lin
學號 p46991284
學位類別 碩士
語文別 中文
論文頁數 47頁
口試委員 指導教授-王大中
口試委員-詹劭勳
口試委員-譚俊豪
中文關鍵字 障礙物閃避  自走車  危險區域 
英文關鍵字 Obstacle Avoidance  Unmanned Vehicle  Danger Zone 
學科別分類
中文摘要 此篇論文提出了一個利用單一感測器來執行自走車在未知環境下的避障演算法,其中的掃描系統由一個超音波感測器和一個伺服馬達所構成,這組系統由0度開始旋轉至180度完成一次掃描的工作,其每個角度及其相對應到的距離值將被記錄將障礙物的輪廓描繪出來並且繪製出長條圖以便於找出障礙物的邊界。在避障演算法方面將會利用危險區域的概念去判斷障礙物是否與車子有撞擊的可能性存在。危險區域的概念是想像一個圓圈把車子包圍,在利用車子和障礙物的相對速度求出在預設的時間內危險的區域。結合障礙物輪廓邊界的資訊和危險區域的判斷概念,我們就可以決定接下來的動作來避免碰撞的產生。
英文摘要 This paper proposes an obstacle avoidance algorithm for unmanned vehicles in unknown environment. The vehicle uses an ultrasonic sensor and a servo motor called scan system which rotates from 0 to 180 degrees back and forth to obtain the distance data to calculate the amounts and to depict the profiles of the obstacles. In this avoidance algorithm we will use the danger zone concept to judge whether the obstacle will cause a possible collision. The danger zone concept surrounds the vehicle through the intersection of semi-algebraic sets. These semi-algebraic sets use the relative velocity of the obstacle to calculate the area in which obstacles will collide with the vehicle within a pre-specified time period. Combining the profile of the boundary of the obstacle with the danger zone concept, a method for determining the safe maneuvers to avoid collisions is also provided.
論文目次 碩 士 論 文 I
摘要 I
ABSTRACT II
CONTENTS 1
LIST OF FIGURE 3
LIST OF TABLE 5
CHAPTER 1 INTRODUCTION 6
1.1 Motivation and Research Objective 6
1.2 Literature Review 7
1.3 Outline of this Thesis 10
CHAPTER 2 BACKROUND KNOWLEDGE 12
2.1 The Danger Zone Concept 12
2.2 Derivation and Analysis of the Danger Zone 13
2.3 Calculation of the Danger Zone 16
CHAPTER 3 THE OBSTACLE AVOIDANCE ALGORITHM 20
3.1 The determination of the obstacle boundary 20
3.2 The modified danger zone estimation 22
3.3 Danger zone estimation solved by quadratic constrained quadratic program 24
CHAPTER 4 Simulation Results 28
4.1 Unmanned vehicle 29
4.2 Scan system 30
4.3 Single stationary obstacle avoidance 32
4.4 The moving obstacle avoidance 38
4.5 Mixed application solve by quadratic constrained quadratic program 41
CHAPTER 5 CONCLUTIONS 44
REFERENCES 45

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