An Application of the Panoramic Camera to the Positioning and the Path Planning of An Automatic Navigated Vehicle

[[abstract]]本文探討以環場影像器（Map Cam360）作為座標與角度量測，藉以結合路徑規劃，作為越障車（Adaptive Configuration Vehicle，簡稱ACV）自動行進與導航之控制，以應用於已知環境如無人化工廠及危險環境之監控。在機器人與無人自走車的行進的控制中，車輛行進時與地面之間不免會發生滑動的現象，為了配合路徑規劃(The Modified Tangent Bug)的最佳化，因此需要一個車輛的定位裝置，藉以校正滑動時所造成之誤差，並修正行進路線，以最短距離前進至指定地點進行監控。本研究的人機介面以Matlab與Borland C++ Builder寫成，並運用遠端模組及無線影像傳輸之網路傳輸技巧進行遠端監控，並以單晶片控制馬達的驅動，以便ACV完成預期的動作指令。本文應用環場影像器所擷取之全域影像，藉由固定於天花板之已知參考點，並結合BCB做影像前處理，自動地將參考點找出，藉以推算車輛之座標與方位，當誤差超過容許值時，將由影像器定位所得之方位，重新規劃到達指定目的地之新路徑。最後，本文藉由越障車的實作與機電整合，驗證所提出方法與系統之可行性。[[abstract]]The paper proposes the Polaris Orientation System using Panoramic Camera (POSPC) for the automatically navigated vehicles, Adaptive Configuration Vehicle (ACV). POSPC is used as a position feedback system in the path planning of ACV, which can be applied to monitoring unmanned factories and hazardous environments. Terrain vehicles are liable to contact slip that leads to the position errors in vehicle movement. A position and orientation feedback system is required to calibrate the vehicle path. The proposed interface is implemented using MATLAB and Borland C++ Builder. The remote monitoring control system combines the wireless motion control and wireless video transmission. The wireless video module transmits the local panoramic image back to the server for the orientation measurement. The ACV utilizes a microchip to control the motors. The reference points in the ceiling of a known environment are given. POSPC measures the reference points in the image plane to derive the position and orientation of the camera that is fixed on the moving vehicle. The path-planning scheme, Modified Tangent Bug, will be applied recursively from the current position for a new route if the error of each target movement is over the tolerance. The prototype of the vehicle and the elctromechanical system are presented. The experimental analysis demonstrates the feasibility of the measurement system