葉仲基臺灣大學:生物產業機電工程學研究所林易增Lin, Yi-ZengYi-ZengLin2010-05-052018-07-102010-05-052018-07-102009U0001-2707200909560400http://ntur.lib.ntu.edu.tw//handle/246246/180297現下結合全球衛星定位系統(GPS)之自走車非常普及，但此種載具在失去GPS訊號時會無法正常運作，故本研究之目的為研發在無GPS訊號的情況下仍能持續運作的無人載具。 一般而言無人載具要事前建立地圖，才能使之作動。本研究研發之無人載具可以在不需事先輸入地圖的情況下運作，藉由地圖的旋轉改進路徑規劃之時間，同時可經由超音波感測器偵測障礙物之位置，達到避障的效果。 在無障礙物之路線，載具可以十分準確地到達指定位置；但在有障礙物時，則依照演算法找出最佳之路徑，將控制程式結合超音波感測器，經實驗證實無人載具在無GPS訊號時，也可確實到達目的地。Unmanned vehicles that use Global Positioning System (GPS) are very popular, but this kind of vehicle may work unsatisfactory when it can not receive GPS signals correctly. In this study, a solution to this problem was investigated. In general, unmanned vehicles run according to a pre-mapping procedure. However, an unmanned vehicle was made to run without pre-mapping in this study. Furthermore, this research shows that the rotation of the map will save time in route planning and the unmanned vehicle can also avoid obstacles by means of an ultrasonic sensor. If there is not any obstacle on the prescribed path, the unmanned vehicle will run smoothly. If there are some obstacles in the way, however, the unmanned vehicle can still follow the shortest route to reach its destination. This unmanned vehicle can operate correctly in the absence of GPS-guidance.誌謝 II要 IIIbstract IV目錄 VI目錄 VIII一章 前言與研究目的 1 1.1 研究動機 1 1.2研究目的 2二章 文獻探討 3 2.1 自我定位 3 2.2 路徑規劃 6 2.3 控制方法 7三章 材料與方法 9 3.1 無人載具之硬體架構 9 3.2 無人載具之軟體架構 21 3.3 實驗方法 41四章 結果與討論 42 4.1 經緯度轉換公式準確性量測 42 4.2 電腦地圖座標反轉換經緯度之證明 44 4.3 載具於無障礙之路徑 46 4.4 載具於有障礙之路徑 48五章 結論與建議 51考文獻 52錄 55application/pdf3441859 bytesapplication/pdfen-US無人載具地圖旋轉路徑規劃unmanned vehiclerotation of maproute planningthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/180297/1/ntu-98-R96631026-1.pdf