研究生: |
許景富 JING-FU XU |
---|---|
論文名稱: |
應用硬體電路於移動式機器人之路徑規劃 A Hardware Implementation for Mobile Robot On-board Path Planning |
指導教授: |
陳志明
Chih-Ming Chen 王延年 Yen-Nien Wang |
口試委員: |
許新添
Hsin-Teng Hsu 施慶隆 Ching-Long Shih 陳建中 Jiann-Jone Chen |
學位類別: |
碩士 Master |
系所名稱: |
電資學院 - 電機工程系 Department of Electrical Engineering |
論文出版年: | 2008 |
畢業學年度: | 96 |
語文別: | 中文 |
論文頁數: | 78 |
中文關鍵詞: | 類免疫演算法 、移動式機器人 、路徑規劃 |
外文關鍵詞: | artificial immune algorithm, mobile robots, path planning |
相關次數: | 點閱:262 下載:3 |
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對於小型移動式機器人,若以個人電腦做為控制的基礎(PC-Based),其缺點是體積龐大,消耗功率也大,並不適合於獨立運作的系統。DSP處理器具有計算速度快、體積小、功率消耗低及可程式性等的優點,非常適合應用於嵌入式即時系统,本論文即以DSP的硬體電路做為系統核心架構,配合移動式機器人,發展一套全方位行為反應控制之機器人,並且將免疫系統的特性,應用於移動式機器人的路徑規劃研究上,使機器人在未知環境中,經由自我學習與適應能力達成路徑規劃的任務。
For relatively small mobile robots, conventional PC-based controllers usually are too heavy and consume too much energy. The recent rapid developments in DSP chips enable engineers and developers to get around these problems by taking advantage of their drastic increasing computational power and flexibility in recent years.
In this thesis, we based on immunity algorithm, and developed a very complicated collision avoidance controller for a path planning scheme. The controller has since been implemented on a DSP control board for verification.
As a result, we have proved the feasibility of both our control algorithm design and the hardware implementation.
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