碩士 / 中州技術學院 / 工程技術研究所 / 97 / For the great progress of mechanical and electrical technologies,
and the raises of quality requirements for human living, the design and
development of robots have advanced from the satisfaction of not or
out of common run, gradually toward the services and amusements of
regular living. The utilizing occasions are also applied from the areas
of industrial manufacturing to the fields of domestic services. Robotic
industry is being looked as a new sunrise industry in the world, so the
countries, America and Japan etc., have invested in robot development.
Different from industrial robots applied in factories, service robots
have many kinds and wide applications, equipped with the capabilities
of sensing and recognizing to make motion decision wisely due to
environment, furthermore, they are called as “Intelligent Robots”.
Therefore, autonomous moving is one of the essential capabilities for
intelligent robots. To ensure the accuracy of path tracking, the
development of a navigation system is very important.
The development of a navigation system for autonomous robots is
the goal of the thesis. Through the design of combining a global
positioning system and an electric compass to obtain the information of
coordinates and angles, autonomous robots can know their location and
make path programming. To keep the right motion for autonomous
robots, we apply the angle information obtained from the electric
compass to modify the motion direction. In addition, to make robots
-IIfollow
the desired paths, a PD-type controller is added to compensate
the tracking errors. In the approach, all of the mechanism, driving
circuits, interface programming and software design for an autonomous
robot are self-design. The major reasons are to commercialize the
design concept and to develop a kind of laboratory self-kernel for
further approaches and product realization.
| Identifer | oai:union.ndltd.org:TW/097CCUT7027008 |
| Date | January 2009 |
| Creators | Lin Da Min, 林達閔 |
| Contributors | 劉昭恕 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 73 |
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