應用硬體電路於移動式機器人之路徑規劃｜國立臺灣科技大學博碩士論文系統

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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：247 下載：3
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上一筆

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.

摘要	I
Abstract	II
誌謝	III
目錄	IV
圖表索引	VIII
第一章 緒論	1
1  前言	1
2  研究動機與目的	1
3	研究方法	2
4	論文架構	3
第二章 系統硬體架構	4
1 前言	4
2	TMS320C6713 DSK	4
2.1	處理器核心( Dsp Core)	5
2.2	記憶體模組(Internal Memory)	6
2.3	周邊模組(Peripherals)	8
2.3.1	中斷選擇器和外部中斷	8
2.3.2	通用計時器(Timer)	10
2.3.3	增強式的直接記憶體存取(EDMA)	11
2.3.4	多通道緩衝串列埠（McBSP）	14
2.3.5	複雜的可規劃元件(CPLD)	17
3	影像處理介面卡( Video Daughter Board)	17
3.1	影像擷取系統(Video Capture System)	18
3.2	影像輸出系統(Video Display System)	19
4	SumoBot Robot	20
5	藍芽無線通訊模組	21
第三章 機器人移動行為控制系統	22
1 前言	22
2 相關文獻探討	22
3 生物免疫系統	23
4 人工免疫網路	24
5 移動行為控制器	25
5.1 移動式機器人架構設計	26
5.2 人工免疫網路數學建模	27
5.3 期望方位之設計	28
5.4 機器人移動行為控制器之系統流程	30
6 移動行為控制器模擬分析	32
7 本章結論	37
第四章 移動式機器人系統流程控制	38
1 前言	38
2 影像處理系統	38
2.1 影像色彩空間	39
2.2 物件偵測與分離	40
2.3 物件標識(Labeling)	42
2.4 物件掃描及搜尋	43
2.4.1 跳躍式搜尋法	43
2.4.2 十字搜尋法(Cross-Line Search Method)	43
2.5 型態學濾波器(Morphology Filter)	44
2.6 移動式機器人之影像處理系統流程	47
3 無線通訊系統	48
3.1 Universal Asynchronous Receiver/Transmitter	48
3.2	UART介面設計	49
3.2.1	GPIO設計UART介面	49
3.2.2	McBSP設計UART介面	51
4 本章結論	57
第 五 章 實驗結果	58
1 前言	58
2 軟體開發環境及DSP程式發展流程	58
3  Standalone  System	61
4	硬體實測	63
5	硬體實作結果之討論	73
第六章  結論與未來研究方向	74
1  結論	74
2  建議及未來研究方向	74
參考文獻	76

                                

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