雙無人載具協同控制與實驗

Abstract

本文主題為發展雙無人載具協同控制系統，我們從最基本的機構設計著手，逐次完成無人載具之製作，並建立由無線網路構成的各次系統資訊交換機制，以兩部無人載具對一長方體物件作推移控制，使得物件能沿著事先設計的參考路徑移動。 在單一載具的路徑追蹤控制問題方面，我們採用模糊控制理論，引入視線角的觀念，使得無人載具受到干擾時，能很快回到規劃路徑上。在協同控制方面，亦以模糊理論導入調整線的觀念，協調兩載具的行進速度，使得各載具能以平行移動的方式推移物件。由實驗結果驗證，我們所提出的方法可使載具確實的追蹤路徑，並且能適度的調整彼此行進速度以達成物件沿一設定路徑推移的目的。

The main theme of this thesis is to design a coordinated control system for two unmanned vehicles. The unmanned vehicles are constructed step by step and the data exchange mechanism between sub-systems is set up through wireless network. The task of pushing an oblong-shaped object with two unmanned vehicles is then performed such that the object can move along a reference path specified in advance. In the path tracking control problem, we use the fuzzy control theory and introduce the concept of line-of-sight angle. For the coordinated control, fuzzy control theory is also used after introducing the concept of adjust line. The speed of each vehicle will be adjusted appropriately and the two vehicles can move parallelly when pushing the object. From the experimental results, the proposed methodology indeed can control the vehicle to track a path, and the two vehicles such that the object can be pushed along the reference path by appropriately modulating the speeds of vehicles.