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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 王立昇(Li-Sheng Wang) | |
| dc.contributor.author | Kuang-Yu Wu | en |
| dc.contributor.author | 吳光俞 | zh_TW |
| dc.date.accessioned | 2021-06-16T05:52:02Z | - |
| dc.date.available | 2017-08-17 | |
| dc.date.copyright | 2014-08-17 | |
| dc.date.issued | 2014 | |
| dc.date.submitted | 2014-08-08 | |
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Meth. in Eng., 33:101-114, 2001. [38] S. M. LaValle, “Rapidly-exploring random trees: A new tool for path planning,” TR 98-11, Computer Science Dept., Iowa State University, 1998. [39] J. J. Kuffner & S. M. Lavalle, “RRT-Connect: An Efficient Approach to Single-Query Path Planning,” IEEE Int’l Conf. Robotics and Automation, 2000. [40] Perla B. Balbuena, Jorge M. Seminario, Molecular Dynamics. From Classical to Quantum Methods, Elsevier,1999. [41] PrimeSense,”PrimeSense3DTechnology,” Internet :http://www.primesense.com/CH [42] M.R. Andersen, T. Jensen, P. Lisouski, A.K. Mortensen, M.K. Hansen, T.Gregersen and P. Ahrendt, “Kinect Depth Sensor Evaluation for Computer Vision Applications,” Department of Engineering, Aarhus University. Denmark. 37pp. - Technical report ECE-TR-6, 2012 [43] K. Khoshelham, “Accuracy analysis of kinect depth data,” GeoInformation Science, 2010. [44] C. Albitar, P. Graebling, C. Doignon, “Robust Structured Light Coding for 3D Reconstruction,” International Conference on Computer Vision, p.1-6.2007. [45] 蔡政霖、余志成,”家用服務型機器人之同步定位與環境地圖建構”,中國機械工程學會第二十五屆全國學術研討會,2008 [46] Mao-Yu, Chien, Obstacle Avoidance System Design and Path Planning for An Unmanned Vehicle, Graduate Institute of Applied Mechanics, National Taiwan University Master Thesis, 2012. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/56843 | - |
| dc.description.abstract | 本論文研究主旨在整合硬體與路徑規劃的演算法，設計多載具編隊的即時避障策略並實現之。
我們採用擬剛體編隊法設計多載具的運動隊形，係將擬剛體的形變理論應用在編隊的設計上，使多載具的隊伍形狀由一組空間齊性形變張量來決定，容許隊形拉伸、旋轉、剪變，此隊形比起剛體隊形更能適應較複雜的環境。編隊設計為先利用快速探索隨機樹(RRT)，配合路線平滑的技巧，建構出隊形的中心路徑。接著設計虛擬位能函數來得到擬剛體的形變張量，可得各載具之規畫路徑。 系統首先由Kinect初步偵測環境並於主控電腦規劃路徑，並於載具運動中加入即時避障功能；針對即時避障問題，首先由單載具出發討論避障策略，隨後討論多載具即時避障問題，本論文利用模糊邏輯理論和多載具之協同機制，即時調整齊性形變張量參數，使得編隊運動能避開短距離障礙物，並在過程中仍能維持擬剛體隊形。經實驗證明，本文所提出的策略確實可行。 | zh_TW |
| dc.description.abstract | The purpose of this thesis is to integrate the hardware and the path-planning algorithm, and then to design a real-time obstacle-avoidance strategy for a multi-vehicle system, which is realized with a system of three vehicles.
The pseudo-rigid formation design algorithm was adopted to design the formation of the multi-vehicle system. The algorithm applies the idea of pseudo-rigid body theory to the formation design, which is determined by a homogenous deformation tensor such that stretch, rotation, and shear are allowed. Comparing to rigid body formation design, pseudo-rigid formation has a better adaptability to environments of higher complexity. In this method, the Rapidly-Exploring Random Tree (RRT) method was first used along with the techniques of route adjustment to obtain the route of the formation center. The deformation matrix is then found by the method of virtual potential function, from which the route of each vehicle is computed. We utilize Microsoft’s Kinect to initially detect environmental objects and execute path-planning design first, and then the function of real-time obstacle-avoidance during the motion of vehicles is implemented. With regard to the problem of obstacle-avoidance, we discuss the strategy for the single vehicle first, which is followed by the discussion for the case of a three-vehicle system. Fuzzy theory and the coordinated control algorithm were used for the multi-vehicle system to adjust the parameter of the deformation matrix in real-time. The vehicles were driven to avoid the obstacles in short distance, while the pseudo-rigid formation is kept during the process. Experimental results show that the strategy proposed in this thesis for a multi-vehicle system is feasible. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-16T05:52:02Z (GMT). No. of bitstreams: 1 ntu-103-R01543050-1.pdf: 3211344 bytes, checksum: 587011a2612cdff4faa73d68cc4f2299 (MD5) Previous issue date: 2014 | en |
| dc.description.tableofcontents | 誌謝 I
中文摘要 II ABSTRACT III 目錄 IV 圖目錄 VI 表目錄 IX 第一章 緒論 1 1.1 前言與研究動機 1 1.2 文獻回顧 2 1.2.1多載具路徑規劃 2 1.2.2擬剛體簡介 3 1.2.2模糊理論 3 1.3 研究內容 4 1.4 論文架構 4 第二章 擬剛體隊型設計與路徑規劃 5 2.1擬剛體的特性 5 2.2擬剛體隊形表示法 8 2.3路徑規劃 11 2.3.1快速探索隨機樹(Rapidly-Exploring Random Tree) 12 2.3.2路徑縮短 13 2.3.3虛擬力場的建立與調整[12] 14 2.3.4貝茲曲線平滑 16 2.3.5禁止路徑 17 2.4擬剛體編隊設計 18 2.4.1 Lennard-Jones potential介紹 18 2.4.2內部虛擬位能函數[12] 19 2.4.3外部虛擬位能函數[12] 20 第三章 硬體架構與系統整合 22 3.1 硬體架構 22 3.1.1 Kinect 感測器 23 3.1.2 超音波感測器 26 3.1.3 馬達編碼器(Encoder)定位定向 28 3.2 整體系統架構 29 第四章 控制器設計與避障 30 4.1 載具運動方程式 30 4.2 模糊控制 32 4.2.1路徑追蹤控制 32 4.2.2單載具即時避障控制 37 4.2.3多載具即時避障控制 41 4.3 多載具協同控制 50 第五章 實驗結果 52 5.1 單載具即時避障實驗 52 5.2 多載具即時避障實驗 53 第六章 結論與未來方向 59 參考文獻 60 圖目錄 圖2-1 擬剛體示意圖 6 圖2-2 純剪變示意圖 8 圖2-3 擬剛體隊形示意圖 9 圖2-4 隊伍面向示意圖 10 圖2-5 以外包圓表示載具 11 圖2-6 單位圓障礙物 (a) 外包障礙物表示 (b) 組合障礙物 11 圖2-7 隨機行走與RRT之比較 12 圖2-8 RRT連結(一) 13 圖2-9 RRT連結(二) 13 圖2-10 (a) RRT規劃之路徑 (b) 路徑縮短後之路線 14 圖2-11 有效半徑內之障礙物排斥力合力 15 圖2-12 路徑點移動方向 15 圖2-13 虛擬力場-路徑調整 (a)調整前 (b)調整後 16 圖2-14 三次貝茲曲線 16 圖2-15 禁止路徑示意圖 17 圖2-16 標準 Lennard-Jones potential函數圖形 18 圖2-17 內部虛擬位能函數 19 圖2-18 隊形直徑 20 圖3-1 載具硬體架構 22 圖3-2 客製化載具平台 23 圖3-3 Kinect感測器[41] 24 圖3-4 Kinect量測精準度[42] 25 圖3-5 Light Coding示意圖[41] 25 圖3-6 Kinect 相機座標示意圖 26 圖3-7 超音波感測器與裝設示意圖 27 圖3-8 超音波測距示意圖 27 圖3-9 載具定位示意圖[40] 28 圖3-10 整體系統架構 29 圖4-1 載具模型示意圖 30 圖4-2 模糊控制器基本架構 32 圖4-3 參考路徑與載具姿態示意 33 圖4-4 輸入變數凘勘之歸屬函數 34 圖4-5 輸入變數攃之歸屬函數 34 圖4-6 輸入變數θe之歸屬函數 34 圖4-7 輸出變數△V之歸屬函數 35 圖4-8 輸出變數△W之歸屬函數 35 圖4-9 單載具避障示意圖 37 圖4-10 模糊輸出(載具轉角θf)示意圖 38 圖4-11 歸屬函數示意圖 39 圖4-12 各種中心路徑偏移量示意圖 42 圖4-13 各種團隊姿態角改變參數之示意圖 43 圖4-14 各種β 改變倍率之示意圖 44 圖4-15 載具車號及超音波編號圖 44 圖4-16 多載具即時近距避障策略圖 45 圖4-17 情境一偏移方向示意圖 45 圖4-18 情境一偏移量示意圖 46 圖4-19 情境一之修改路徑點數估算 46 圖4-20 情境二之模糊歸屬函數 47 圖4-21 情境二之修改路徑點數估算 48 圖4-22 情境三之角度估算 49 圖4-23 情境三之修改路徑點數估算 49 圖4-24 擬剛體隊形之參考路徑 50 圖4-25 最小距離閥值dmin及最小角度閥值θmin 51 圖5-1 實驗環境圖 52 圖5-2 參考路徑與載具軌跡圖 52 圖5-3 多載具路徑規劃結果I 54 圖5-4 情境一之路徑與載具軌跡圖 55 圖5-5 情境二之路徑與載具軌跡圖 56 圖5-6 多載具路徑規劃結果Ⅱ 57 圖5-7 情境三之路徑與載具軌跡圖 58 表目錄 表3-1 Kinect規格 24 表4-1 路徑追蹤-模糊規則庫 36 表4-2 單載具避障-模糊規則庫 40 表4-3 情境二-模糊規則庫 48 | |
| dc.language.iso | zh-TW | |
| dc.subject | 即時避障 | zh_TW |
| dc.subject | 擬剛體 | zh_TW |
| dc.subject | 快速探索隨機樹 | zh_TW |
| dc.subject | 編隊 | zh_TW |
| dc.subject | RRT | en |
| dc.subject | Real-Time Obstacle-Avoidance | en |
| dc.subject | Pseudo-Rigid Body | en |
| dc.subject | Formation | en |
| dc.title | 多載具編隊運動之即時避障策略設計 | zh_TW |
| dc.title | The Design of Real-Time Obstacle-Avoidance Strategy for the Formation Control of a Multi-Agent System | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 102-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.coadvisor | 張帆人(Fan-Ren Chang) | |
| dc.contributor.oralexamcommittee | 王伯群(Bor-Chyun Wang),卓大靖(Dah-Jing Jwo),姜義德(Yi-Te Chiang) | |
| dc.subject.keyword | 即時避障,編隊,快速探索隨機樹,擬剛體, | zh_TW |
| dc.subject.keyword | Real-Time Obstacle-Avoidance,Formation,RRT,Pseudo-Rigid Body, | en |
| dc.relation.page | 63 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2014-08-08 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 應用力學研究所 | zh_TW |
| 顯示於系所單位： | 應用力學研究所 | |
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