Study on Autonomous Guiding Model Of Curve Paths for an Automatic Vehicle

本研究著重於自走車的路徑規劃及建置有效的轉彎行走模式，依據感測器所得到的資料來規劃出由起點到目的地的路徑並避開障礙物。在此發展的彎曲模式是以預設路徑中前2點座標及自走車車體座標共3點，運算出自走車該轉向半徑及角度，進行行走軌跡修正。 將發展的定軌跡與轉彎系統，先以電腦模擬其運走的準確性。由模擬實驗結果得知，本研究採用向量修正法，可有效地控制其直行與超過3m轉彎半徑的行走，若小於3m的轉彎半徑，則發展的轉彎系統能有效的降低自走車在彎曲路徑上的誤差，並且找出最佳參數轉向限制角度20度及前七點最小平方差和750，可改善在向量修正法在彎曲路徑上所造成的誤差，改善幅度最高達55.4%。Two main objectives of this study are to plan the pre-designated route and develop a turning model along the route. The autonomous vehicle will plan and draw a pre-designated route by its travel system from the starting point to destination according the collected data during the man-driven test. The developed route can drive by pass the obstacles safely. The developed the turning moving model can compute the turning radium and angel according to the previous two positions and the present vehicle position. The computed values are used to control the vehicle motion. A program has been written to simulate the performance of developed functions of route design and turning movement. The simulated results are used to verify its controlled accuracy of motion. The simulated results show the developed vector guiding system can effectively control the vehicle to travel in a straight line or move with a turning radium which is bigger than 3m. If the turning radium is less than 3m, then the developed turning control system can obviously reduce the deviation between the vehicle and pre-designated route. The best control parameters are the restricted turning angle of 20 and the at least square sum for deviation of 7 previous points to be 750. They can improve the performance of autonomous vehicle to travel along a pre-designated route aobut 55.4%.目錄 謝誌 I 摘要 II Abstract III 目錄 V 圖目錄 VIII 表目錄 XI 符號說明 XIII 第一章 前言 1 1.1研究動機 1 1.2研究目的 3 第二章 文獻探討 4 2.1教導式路徑規劃 4 2.2農用載具之導航技術 5 2.2.1超音波導航 5 2.2.2無線電導航 6 2.2.3影像環境辨識導航 7 2.2.4雷射光與紅外線導航 8 2.3施藥無人化操作 8 2.3.1自動噴藥車導引 9 2.3.1.1畦溝式導引 9 2.3.1.2軌道式導引 9 2.3.1.3電磁式導引 10 2.4運動校正 10 2.5方位推估法 16 2.6方位推估法誤差分析 17 2.7 四輪轉向之原理 18 2.8 向量修正法 19 第三章 實驗設備與方法 21 3.1研究設備 21 3.2 施藥車 21 3.3實驗方法 23 3.3.1 教導式路徑之建立 24 3.3.2 推估自走車之座標 25 3.3.3自走車循跡模擬(彎曲模式) 26 3.3.4 彎曲模式限制條件 28 3.4模擬試驗 30 第四章 結果與討論 32 4.1 不同曲率半徑之模擬結果 32 4.2不同最小平方差和限制條件之影響探討 39 4.3 不同轉向角度限制條件之影響探討 41 4.4兩種限制條件之影響探討 46 4.5 向量修正模式含彎曲模式與純向量模式之比較 57 4.6手動規劃預設路徑模擬之結果 61 第五章 結論與建議 64 5.1 結論 64 5.2 建議 65 參考文獻 6