碩士 / 國立臺灣海洋大學 / 導航與通訊系 / 92 / The goal of this thesis is to design a DSP/CPLD-based control system for the autonomous vehicle. The main function is to use a GPS receiver to obtain the vehicle’s longitude and latitude position data, and then compare them with the target’s position data. After the calculation of the relative position between the vehicle and target by the DSP/CPLD, the PWM signals are employed for controlling the power transistor. Except that, the H-bridge control the motors in this vehicle.Using the velocity difference of two motors, the vehicle’s heading and turning angle are determined. Moreover, the ultrasonic sensor is mounted on this vehicle to detect the obstacles, and to approach to the target safely with the collision avoidance model.
| Identifer | oai:union.ndltd.org:TW/092NTOU5300008 |
| Date | January 2004 |
| Creators | Yen-Shu Chang, 張晏樹 |
| Contributors | 卓大靖 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 95 |
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