| 摘要: | 本論文主要研究全向輪形機械人之路徑規劃運動控制及相關實踐。路徑規劃會預先導出全向輪形機械人避障會使用到路徑的數學式，再使用MATLAB模擬路徑。
控制方式則會以PID控制為主導，PID控制相對的好處是：簡單的、容易對控制器作出調整、提供良好的穩定性，快速響應和相對穩定。
本論文中亦採用全向輪這種特殊的輪子，利用其輪子的特殊設計，達到不需要轉向，仍然可以向任何方向自由移動。
This thesis mainly study the path planning motion control and related implementation of the omnidirectional mobile robot. The path planning will pre-derive the mathematical formula in advance, for the omnidirectional mobile robot used to avoid obstacles, furthermore use the MATLAB software to simulate the all paths step by step.
The control method will be led by PID control. The relative advantages of PID control are: easy, simple and direct to modify and tune those controllers, thus provides fair level of stability, high speed response and bringing the entire performance relatively stable.
In this paper, a special wheel “omni-directional wheel” is also used, with the particular design of the wheel, making it revolving in all directions by itself. |
