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研究生: 謝伯楷
Po-Kai Hsieh
論文名稱: 居家型移動機器人之軟硬體設計與控制
The Design and Control of Home Mobile Robots
指導教授: 呂藝光
Leu, Yih-Guang
王偉彥
Wang, Wei-Yen
學位類別: 碩士
Master
系所名稱: 電機工程學系
Department of Electrical Engineering
論文出版年: 2009
畢業學年度: 97
語文別: 中文
論文頁數: 114
中文關鍵詞: 移動機器人全方向輪適應性學習法
英文關鍵詞: Mobile robots, Omni-directional wheels, Adaptive learning approach
論文種類: 學術論文
相關次數: 點閱:141下載:18
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  • 本論文主要為設計與研製一居家移動機器人之軟、硬體架構,希望本移動機器人能在動態且複雜的居家環境中,成為能自我引導與全方位移動的自主性移動機器人。在複雜且動態的居家境中,可藉著全方位移動機器人敏捷的行動能力,完成居家照護的工作。本研究主要完成整合與設計下列各部份軟硬體架構,包括:全方向輪的運動方式、DC連續旋轉馬達的控制、場域可程式化邏輯閘陣列(FPGA)、影像訊號之距離量測系統與五軸機器手臂的控制。
    另外,本論文利用下列兩個實驗來驗證所研製的居家移動機器人的效能與可行性。第一個實驗為利用模糊控制器控制居家照護機器人的移動,以便執行抓取目標物的工作,進而完成使用者所指定將某一目標物移至另一地點的任務。第二個實驗是先利用以DNA為基礎的適應性學習法則模擬居家移動機器人完成自動導航任務,之後將其演化後的參數使用於所研製的居家移動機器人上並實際測試居家移動機器人的自動導航能力。

    The objective of this thesis is to design and control a home mobile robot which is capable of the omni-directional and autonomous mobility in dynamic and complex environments. In narrow home environments, the mobile robot can perform nursing work by the ability of omni-directional mobility. This study includes the DC motor control of three omni-directional wheels, Field Programmable Gate Array (FPGA), the image-based distance measuring system and the control of a five-axis robotic arm.
    In addition, two experiments are given to demonstrate the applicability and feasibility of the proposed home mobile robot. The first is that a fuzzy controller is used to control the mobility of the home mobile robot such that the robot can move an assigned object from one location to another. The second is that first, through simulation, the adaptive DNA-based learning approach is used in the home mobile robot navigation, and then using a simple experiment verifies the ability of the robot navigation.

    中文摘要 i 英文摘要 ii 誌  謝 iii 圖 目 錄 vi 表 目 錄 ix 第一章 緒論 1 1.1 研究背景與動機 1 1.2 研究目的 4 1.3 研究方法 4 第二章 全向輪移動機器人 5 2.1 移動機器人之背景 5 2.2 三輪全向輪移動機器人之模型 6 2.3 三輪全向輪移動機器人之動態方程式 8 2.4 三輪全向輪移動機器人之運動方式 11 第三章 模糊邏輯系統與遺傳演算法 15 3.1 模糊邏輯系統之理論背景 15 3.2 模糊邏輯系統 16 3.2.1 基本架構 16 3.2.2 模糊規則庫 17 3.2.3 模糊推論引擎 19 3.2.4 模糊化 20 3.2.5 解模糊化 22 3.3 遺傳演算法的理論背景與基礎 23 3.4 傳統遺傳演算法 24 3.4.1 傳統遺傳演算法之架構 24 3.4.2 傳統遺傳演算法之演化程序 26 3.5 DNA遺傳演算法 29 3.5.1 DNA遺傳演算法之理論背景 30 3.5.2 DNA遺傳演算法之演化操作 31 第四章 全向輪移動機器人之適應性學習法則 34 4.1 以DNA為基礎的適應性學習法則 34 4.2 全向輪移動機器人之路徑模擬 36 4.3 模擬結論 44 第五章 居家型移動機器人之硬體系統架構與設計 45 5.1 機構設計 45 5.2 硬體系統架構說明 52 5.2.1 DC連續旋轉馬達 52 5.2.2 DC馬達控制器 53 5.2.3 82G516單晶片 56 5.2.4 步進馬達及其驅動電路 60 5.2.5 五軸機器手臂 62 5.2.6 Altera DE2 FPGA與DC2 CCD 63 5.2.7 電源裝置 74 5.3 以影像訊號為基礎之距離量測系統 77 5.4 整合軟、硬體裝置 81 第六章 居家型移動機器人之實驗結果 84 6.1 實驗一:依使用者要求抓取目標物 84 6.2 實驗二:沿直線牆面的自動導航任務 98 6.3 實驗結論 104 第七章 研究結論與建議 106 參考文獻 107 自 傳 113

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