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研究生: 鄭敬錡
Cheng, Ching-Chi
論文名稱: 基於ROS開發工業應用之無人搬運車安全及強健移動式機器人導航策略
Safe and Robust Mobile Robot Navigation Strategies for an Automated Guided Vehicle Based on ROS in Industrial Applications
指導教授: 蔣欣翰
Chiang, Hsin-Han
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: 2020
畢業學年度: 108
語文別: 中文
論文頁數: 92
中文關鍵詞: 自動搬運機器人機器人作業系統同步定位與地圖建置安全導航動態窗口避障彈性自動化
英文關鍵詞: Automated guided vehicle (AGV), ROS, SLAM, safe navigation, dynamic window approach (DWA), flexible automation
DOI URL: http://doi.org/10.6345/NTNU202001147
論文種類: 學術論文
相關次數: 點閱:221下載:0
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  • 摘要 i ABSTRACT ii 目錄 iv 表目錄 vii 圖目錄 viii 第一章 續論 1 1.1 研究背景 1 1.2 文獻回顧 2 1.2.1 無人搬運車 2 1.2.2 導航演算法 3 1.2.3 障礙物閃避 5 1.3 論文架構 8 第二章 無人搬運車架構及設備 10 2.1 無人搬運車機構 10 2.2 運算核心 11 2.3 電力系統 11 2.3.1 電池規格 11 2.3.2 充電設備 12 2.4 馬達系統 13 2.4.1 馬達規格 13 2.4.2 控制架構 13 2.5 感測器系統 14 2.5.1 雷射測距儀 14 2.5.2 攝影機 15 2.6 搬運設備 15 2.6.1 升降平台 15 2.6.2 貨料架 16 第三章 軟體架構設計 17 3.1 ROS機器人作業系統 17 3.1.1 ROS的基本概念 17 3.1.2 ROS使用版本 19 3.2 無人搬運車系統架構 20 3.2.1 模組架構設計 20 3.2.2 ROS節點架構 21 3.2.3 硬體驅動設置 23 第四章 導航功能設計 25 4.1 Gmapping建圖 25 4.2 路徑規劃 25 4.2.1 直線補點 25 4.2.2 A*搜尋法 26 4.3 AMCL定位 28 4.4 路徑追蹤 28 4.5 動態窗口避障 31 4.5.1 偵測障礙物 31 4.5.2 軌跡模擬 32 4.5.3 動態窗口 33 4.5.4 代價函數 34 4.6 近端定位 36 4.6.1 自動充電 36 4.6.2 搬運貨料架 39 4.7 使用者介面 41 第五章 實驗結果 45 5.1 實驗環境 45 5.2 安裝及操作流程 46 5.3 Gmapping建圖 51 5.4 路徑規劃 53 5.5 AMCL定位 55 5.6 路徑追蹤 57 5.7 動態窗口避障 64 5.8 近端定位 79 5.9 工廠場域實際測試 86 第六章 結論與未來展望 89 6.1 結論 89 6.2 未來展望 89 參考文獻 90

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