Real-Time Tracking and Control System for an Unmanned Vehicle
Date Issued
2004
Date
2004
Author(s)
Qiu, Jin-Zhong
DOI
zh-TW
Abstract
The main theme of this thesis is to design an autopilot system for an unmanned vehicle to track a moving target on a flat plane. A tracking controller is developed along with hardware experiment. First, we design the hardward of unmanned vehicle, and add gradually device like motor, sensor, controller and so on. The goal is to have the unmanned vehicle being able to track a moving target and simultaneously avoid obstacle in the environment in real time.
There are two scenarios when an unmanned vehicle tracks a moving target:one is moving without obstacle, the other is with obstacle. On a flat plane without obstacle, we can use a simple guidance law to track a moving target. If obstacles exist, we need to use path-planning algorithm to design an optimal path from the vehicle to the target which bypass obstacles. After finishing the design of the optimal path, GPS receivers and electronic compass are adopted to obtain the position and the attitude of the vehicle, respectively. A fuzzy controller is then designed to accomplish the goal of tracking. From the experimental results, the proposed methodology indeed can effectively control an unmanned vehicle to track a moving target.
Subjects
路徑規劃
模糊控制器
Fuzzy Controller
Path-Planning
Type
thesis
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