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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 王立昇 | zh_TW |
| dc.contributor.advisor | Li-Sheng Wang | en |
| dc.contributor.author | 黃力法 | zh_TW |
| dc.contributor.author | Li-Fa Huang | en |
| dc.date.accessioned | 2024-08-16T16:22:47Z | - |
| dc.date.available | 2024-08-17 | - |
| dc.date.copyright | 2024-08-16 | - |
| dc.date.issued | 2024 | - |
| dc.date.submitted | 2024-08-12 | - |
| dc.identifier.citation | [1] Noto, Masato, and Hiroaki Sato. "A method for the shortest path search by extended Dijkstra algorithm." Smc 2000 conference proceedings. 2000 ieee international conference on systems, man and cybernetics.'cybernetics evolving to systems, humans, organizations, and their complex interactions'(cat. no. 0. Vol. 3. IEEE, 2000.
[2] DUCHOŇ, František, et al. Path planning with modified a star algorithm for a mobile robot. Procedia engineering, 2014, 96: 59-69. [3] SUN, Xiaoxun; YEOH, William; KOENIG, Sven. Moving target D* lite. In: Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems: volume 1-Volume 1. 2010. p. 67-74. [4] ZHENG, Kaiyu; LIU, Shan. RRT based path planning for autonomous parking of vehicle. In: 2018 IEEE 7th Data Driven Control and Learning Systems Conference (DDCLS). IEEE, 2018. p. 627-632. [5] BOHLIN, Robert; KAVRAKI, Lydia E. Path planning using lazy PRM. In: Proceedings 2000 ICRA. Millennium conference. IEEE international conference on robotics and automation. Symposia proceedings (Cat. No. 00CH37065). IEEE, 2000. p. 521-528. [6] FU, Weipei, et al. Research on automatic parking path optimization based on Ackerman model. Academic Journal of Computing & Information Science, 2022, 5.8: 50-57. [7] DUBINS, Lester E. On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents. American Journal of mathematics, 1957, 79.3: 497-516. [8] KIRK, Donald E. Optimal control theory: an introduction. Courier Corporation, 2004. [9] REEDS, James; SHEPP, Lawrence. Optimal paths for a car that goes both forwards and backwards. Pacific journal of mathematics, 1990, 145.2: 367-393. [10]連敏智，“船運動之最佳化設計”，台灣大學應用力學驗就所碩士論文，中華民國八十七年。 [11] FLIESS, Michel, et al. Sur lessystèmesnon linéaires différentiellement plats. CR Acad. Sci. Paris, 1992, 619. [12] FRANCH, Jaume; RODRIGUEZ-FORTUN, José Manuel. Control and trajectory generation of an ackerman vehicle by dynamic linearization. In: 2009 European Control Conference (ECC). IEEE, 2009. p. 4937-4942. [13] HAN, Zhichao, et al. Differential flatness-based trajectory planning for autonomous vehicles. arXiv preprint arXiv:2208.13160, 2022. [14] MURRAY, Richard M.; RATHINAM, Muruhan; SLUIS, Willem. Differential flatness of mechanical control systems: A catalog of prototype systems. In: ASME international mechanical engineering congress and exposition. 1995. p. 349-357. [15] 昱全道路駕駛https://www.drivinginstruct.com/parking/ [16] ZARGARI, Noa; LEVRON, Yoash; BELIKOV, Juri. Optimal control of energy storage devices based on Pontryagin's minimum principle and the shortest path method. In: 2019 IEEE PES Innovative Smart Grid Technologies Europe (ISGT-Europe). IEEE, 2019. p. 1-5. | - |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/94498 | - |
| dc.description.abstract | 目前自動停車結果的好壞，仰賴載具起始姿態與複雜的即時路徑規劃，並結合高精度感測器進行碰撞檢測。本研究以微分平坦理論進行基於阿克曼轉向機構之倒車入庫最優路徑規劃及控制。微分平坦算法具有低運算複雜度，可以進行即時路徑規劃同時設計出系統之控制。路徑規劃中，根據當前姿態決定姿態調整策略及專家停車策略，使得汽車可以根據起始姿態與車格之位置決定合適的停車策略。另外，停車前，採用路徑預規劃進行碰撞檢測，使得倒車入庫更加安全可靠。本研究以阿克曼轉向理論為基礎，設計出符合阿克曼轉向約束條件之四輪載具控制策略，並透過不斷迭代求解全局最優之控制策略。 | zh_TW |
| dc.description.abstract | Currently, the effectiveness of automatic parking depends on the initial posture of the vehicle, complex real-time path planning, and collision detection using high-precision sensors. This research employs differential flatness theory for optimal path planning and control of reverse parking based on the Ackermann steering mechanism. The differential flatness algorithm has low computational complexity, allowing for real-time path planning and simultaneous control system design. During path planning, the posture adjustment strategy and expert parking strategy are determined based on the current posture, enabling the car to decide the appropriate parking strategy based on the initial posture and the position of the parking space. Additionally, before parking, path pre-planning is used for collision detection, making reverse parking safer and more reliable. This study is based on Ackermann steering theory, designing a four-wheel vehicle control strategy that meets the Ackermann steering constraints, and iteratively solving for the globally optimal control strategy. | en |
| dc.description.provenance | Submitted by admin ntu (admin@lib.ntu.edu.tw) on 2024-08-16T16:22:47Z No. of bitstreams: 0 | en |
| dc.description.provenance | Made available in DSpace on 2024-08-16T16:22:47Z (GMT). No. of bitstreams: 0 | en |
| dc.description.tableofcontents | 口試委員會審定書 i
致謝 ii 摘要 iii Abstract iv 目次 v 圖次 viii 表次 x 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 路徑規劃 2 1.2.2 滿足非完整約束之路徑軌跡生成 2 1.3 研究內容與成果 3 1.4 論文架構 4 第二章 杜賓車模型載具之最佳路徑規劃法 5 2.1 杜賓汽車 5 2.2 杜賓控制切換點推導 6 2.3 最佳控制原理 10 2.3.1 最短時間最佳化控制理論 12 2.4 Reed Shepp Curve 14 2.5 最小能量最佳化控制理論 15 2.6 數值方法 17 2.7 結果比較 18 第三章 微分平坦架構 20 3.1 微分平坦 20 3.2 平面剛體 21 3.2.1 阿克曼汽車微分平坦存在性證明 22 3.3 微分平坦輸出求解 25 3.3.1 最佳化軌跡及控制 28 第四章 自動停車系統最優路徑規劃算法 31 4.1 最佳化路徑時間 31 4.2 碰撞檢測 34 4.3 專家停車策略 35 4.4 基於微分平坦之停車路徑規劃演算法流程圖 37 第五章 實驗設備及模擬與實驗結果 38 5.1 硬體設備 38 5.1.1 無人載具 38 5.1.2 網路攝影機 40 5.1.3 工作站設備 41 5.2 實驗軟體 42 5.3 系統整合 42 5.4 控制系統 43 5.4.1 模糊控制 43 5.4.2 規則庫設計 44 5.5 模擬結果 45 5.5.1 一次到位停車策略-與車位距離適當 45 5.5.2 一次到位停車策略-與車位橫向距離過近 47 5.5.3 多段式姿態調整停車策略-載具過大 48 5.5.4 多段式姿態調整停車策略-與車位縱向距離過近 49 5.5.5 直直停入 50 5.5.6 直直停入-縱向距離過近 51 5.5.7 模擬結果與討論 52 5.6 實驗結果 52 5.6.1 一次到位停車策略-與車位距離適當 52 5.6.2 一次到位停車策略-與車位橫向距離過近 54 5.6.3 多段式姿態調整停車策略-與車位縱向距離過近 55 5.6.4 自選車位多段式姿態調整停車策略 56 第六章 結論與未來展望 57 參考文獻 58 | - |
| dc.language.iso | zh_TW | - |
| dc.title | 倒車入庫之最優路徑規劃及控制演算法 | zh_TW |
| dc.title | Optimal Path Planning and Control Algorithm for Reverse Parking | en |
| dc.type | Thesis | - |
| dc.date.schoolyear | 112-2 | - |
| dc.description.degree | 碩士 | - |
| dc.contributor.oralexamcommittee | 張帆人;王和盛 | zh_TW |
| dc.contributor.oralexamcommittee | Fan-Ren Chang;He-Sheng Wang | en |
| dc.subject.keyword | 停車策略,路徑規劃,微分平坦理論,阿克曼轉向機構,四輪載具, | zh_TW |
| dc.subject.keyword | Parking strategy,Path planning,Differential flatness theory,Ackermann steering mechanism,Four-wheel vehicle, | en |
| dc.relation.page | 59 | - |
| dc.identifier.doi | 10.6342/NTU202404189 | - |
| dc.rights.note | 同意授權(全球公開) | - |
| dc.date.accepted | 2024-08-13 | - |
| dc.contributor.author-college | 工學院 | - |
| dc.contributor.author-dept | 應用力學研究所 | - |
| 顯示於系所單位： | 應用力學研究所 | |
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