系統參數未知下之全向輪型機器人路徑規劃與控制整合設計

CCUR > College of Natural Science and Engineering > College of Engineering > Department of Mechanical Engineering > project > Item 987654321/16298

Please use this identifier to cite or link to this item: https://irlib.pccu.edu.tw/handle/987654321/16298

Title:	系統參數未知下之全向輪型機器人路徑規劃與控制整合設計
Authors:	黃正自
Contributors:	機械工程學系數位機電碩士班
Date:	2010
Issue Date:	2010-09-06 11:27:38 (UTC+8)
Abstract:	完整的輪型機器人控制設計，通常涵蓋兩個階段 1)路徑規劃與避障設計；2)路徑跟隨控制設計。本計畫主要目的即在完成全向輪機器人在馬達及系統動態參數未知情況下，上述兩階段的問題解決。在第一階段中，本計畫將只針對靜態避障問題做研究，亦即相關障礙辨識及路徑規劃是以離線方式完成。首先，帶領機器人環繞室內全場，同時以雷射掃描機作平面障礙物掃描偵測，接著配合適當的函數內插法加以得到障礙分布圖。依據此分布圖，再採用所謂之位能場法來求得一最佳路徑。而在路徑跟隨控制問題上，現有的設計皆依賴以下兩個假設 A1) 驅動輪上的馬達特性與參數完全相同; A2) 質量中心需與幾何中心同一點。顯而易見，實際情況往往並非如此。放寬上述兩項限制的最大問題在所謂之控制輸入奇異點(singularity)危機可能出現，會造成控制能量之飽和，嚴重可能燒毀致動器。為此，將以過去平滑切換設計為基礎，加以適當修正應用於輪型機器人系統上，以有效解決該問題。最後，我們預計將所完成之理論設計實現於DSP 模版上並於實車上測試其效能。相信以目前本實驗室有的TMS320F2407 晶片模組(EVM)，以其擁有的快速執行速度及專為馬達控制設計的硬體佈置，相信在最短時間內就能快速展現本計畫的成效。 This project aims to achieve the objectives of trajectory planning (obstacle avoidance) and tracking simultaneously for an omnidirectional wheeled mobile robot with unknown dynamical and motor parameters. For trajectory planning, we’ll deal with only the static problem. The off-line laser scanning plus some interpolation numerical technique are integrated for obtaining the environmental information (obstacle localization). Next, to find an optimal trajectory connecting the starting and the end positions, the popular potential method will be adopted. Regarding the tracking control designs, most existing schemes rely on two assumptions A1) the motors on the wheels have identical parameters; A2) the center of mass is right at the geometrical center. They’ll all be relaxed in this project. The control singularity phenomenon will be encountered generally under such circumstances. However, via using our smooth switching algorithms developed earlier, such risks will be avoided completely. Finally, a DSP-based implementation will be carried out to demonstrate the validity of the proposed design.
Appears in Collections:	[Department of Mechanical Engineering ] project

Files in This Item:

File	Description	Size	Format
index.html		0Kb	HTML	386	View/Open
992221E034.pdf		569Kb	Adobe PDF	661	View/Open

Loading...