| 摘要: | 本論文探討自走車之軌跡規劃、運動控制及藍芽前車追隨。首先以五次多項式進行軌跡規劃，依照所需設定行程時間、起終點的位置、速度及加速度，便能求出滿足要求的平滑軌跡，接著驗證實際軌跡與模擬軌跡的一致性。
控制方式採用PID控制，PID控制被廣泛運用，其主要優點在於:擁有相當強健性、使用簡單、調整容易。利用設定取樣間隔，將每個間隔中馬達編碼器回授訊號讀取、控制器再進行追跡誤差計算，最後PID系統依據誤差值給予馬達補償。
PID控制與軌跡規劃完成之後，進行藍芽模組連線，完成藍芽連線並進行實際驗證之後，便能開始製作藍芽自走車前車追隨系統，以電腦監控視窗對自走車前車輸入命令，前車依據命令，進行預設軌跡移動並將命令傳遞給後車，最後後車也依據前車傳遞的命令進行移動，比較兩種傳輸方式的差異，在經過實際驗證與模擬數值比對之後，完成成果令人滿意。
This thesis investigates issues of path planning, motion control, and the car-following with Bluetooth communication. First, the path planning is performed with a fifth-order polynomial of the time. For a given set of boundary conditions of the positions, the velocities and the accelerations, a smooth trajectory fulfilling the aforementioned boundary conditions can be uniquely obtained. Next, experiments for verifying the consistency between the actual trajectory and the simulated trajectory are conducted.
The PID control method is adopted for its wide popularity. Its major advantages are strong robustness, easy to use, and easy to tune, etc. By setting the sampling interval, the motor encoder feedback signal is read in each interval, and then the controller calculates the path error. Finally, the PID system gives the motor compensation according to the error value.
For the car-following tasks, we first proceed the Bluetooth module connection. After completing the Bluetooth connection and the actual verification, the car-following vehicle system can be started with giving a command to the first car with a computer monitor. When the first vehicle receives the command, the preceding vehicle moves according to the command, and the command is transmitted to the following vehicle. Finally, the rear vehicle moves according to the command transmitted by the preceding vehicle, and the difference between the two transmission modes is compared. Experimental results were quite satisfactory for meeting the control objectives. |
