周瑞仁臺灣大學：生物產業機電工程學研究所李曉芳Lee, Hsiao-FangHsiao-FangLee2007-11-262018-07-102007-11-262018-07-102004http://ntur.lib.ntu.edu.tw//handle/246246/52891本研究發展一組以彈性體作為連結之機器蛇，並設計一套最佳避障路徑搜尋法。機器蛇由五節模組化的單體所構成，每個單體擁有兩個步進馬達分別驅動左右輪，單體之間以彈簧或海綿等彈性體作為連結，整條機器蛇由十顆微控制器擔任信號處理、協調、控制與通訊等任務。路徑規劃之目的在於找出最短避障路徑。本研究將障礙物近似簡化為圓形，以起點與終點連線當主軸，首先對主軸上的圓做切線，規劃以切線和圓弧銜接而成的可行路徑。利用簡單的幾何關係比較模式比較路徑長度並界定可能為最短路徑之搜尋範圍。此方法可以縮小搜尋空間，並且大幅降低需實際計算路徑長度之運算量。同時，本研究亦提出視窗法（Windowing）求取機器蛇的容許速度，使得機器蛇各單體動作協調一致，而不致解體。The study develops a snake-like robot with a flexible body and also presents a novel approach to determine an optimal path for obstacle avoidance. The snake-like robot consists of five modular units. Each unit is driven by two stepper motors in a differential way and connected by springs or sponges. Ten microcontrollers are incorporated into the design of the robot and are primarily used for signal processing, motion coordination, control and communication. The purpose of path planning in the study is to find an optimal way from a starting position to a target point without a collision with obstacles. To simplify the planning process, we describe obstacles approximately by circles. Feasible collision-free paths are simply formed by lines tangent to the circles and arcs on the circles. A length comparison approach based on geometric relationship is developed to examine the length of paths and to reduce the searching space of feasible optimal paths. Consequently, the paths necessary to calculate their length for comparison with others could decrease dramatically. Furthermore, the study also proposes a windowing approach to decide the feasible velocity for the snake-like robot to move in accord from falling apart.目 錄 致謝........……………………………………………….…………………...I 中文摘要……………………………………………….………………….II 英文摘要……...…………………………………………………………..III 目錄…...………………………………………………………………..…IV 圖目錄....………………………………………………………………...VII 表目錄…………………………………………………….……………XVI 第一章 前言……………………………………………………………….1 1.1研究動機…………………………………….………………...2 1.2研究目的…………………………………….………………...2 第二章 文獻探討………………………………………………………….4 2.1機器蛇的機構設計……………………………………………4 2.1.1 ACM系列………………………………………………5 2.1.2蒼龍Souryu I, II………………………………………...8 2.1.3 GMD系列……………………………………………..10 2.1.4 MARKO……………………………………………….12 2.1.5 Mechanical Snake……………………………………..13 2.1.6 NASA Snakebot……………………………………….15 2.2路徑規劃方法………………………….…………………….17 2.2.1可視圖法（Roadmap）…………….…………………....17 2.2.2區格分解法（Cell decomposition）….…………………18 2.2.3位能場法（Potential field）…………………………….19 2.2.4波前傳遞介面（Propagating interface）….…………….20 第三章 系統和研究方法………………………………………………...23 3.1機器蛇硬體系統…………………………….……………….24 3.1.1步進馬達驅動……………………….………………...24 3.1.2串列通訊………………………….…………………...28 3.2軌跡規劃……………………………….…………………….32 3.2.1切線與圓弧構成之路徑………………………………32 3.2.2路徑長度比較模式……………………………………39 3.2.3路徑發生交越………..………………………………..59 3.2.4路徑被非主軸上之圓擋住……………………………75 3.2.5速度規劃………………………..……………………..83 3.2.6軌跡規劃流程……………………..…………………..90 第四章 實驗結果和討論…………………………….…………………..91 4.1路徑沒有發生交越……………………………..……………93 4.2路徑發生交越…………..……………………………………101 4.3路徑被非主軸上之圓擋住………..………………………..118 第五章 結論與建議………………………………….………………………129 參考文獻…………………………………………….………………………..130 附錄一………………………………………………………………………...1331888906 bytesapplication/pdfen-US機器人蛇路徑規劃避障Path planningRobotSnakeObstacle avoidancethesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/52891/1/ntu-93-R90631022-1.pdf