碩士 / 國立成功大學 / 電機工程學系碩博士班 / 98 / This thesis presents an intelligent vehicle combined with multi-sensor-based autonomous navigation and remote monitoring/control functions. To control the vehicle, an embedded system plays a role as the central computing and control unit for receiving the information from sensors, and sends the real-time commands to control the intelligent vehicle. The autonomous navigation system of the vehicle consists of a self-developed inertial measurement unit (IMU), a global positioning system, a magnetometer and wheel speed sensors combined with the extended Kalman filter (EKF) to improve the performance of autonomous navigation. In order to avoid navigation failure caused by environmental conditions, we developed a remote monitoring system, by which users can control the intelligent vehicle remotely to realize the concept of virtual driving. Finally, the experimental results successfully validated the applicability and effectiveness of the intelligent vehicle to achieve autonomous campus navigation using multi-sensor-based autonomous navigation and remote monitoring/control function.
| Identifer | oai:union.ndltd.org:TW/098NCKU5442105 |
| Date | January 2010 |
| Creators | Duan-YingChang, 張端穎 |
| Contributors | Jeen-Shing Wang, 王振興 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 103 |
Page generated in 0.0016 seconds