碩士 / 國立中山大學 / 機械與機電工程學系研究所 / 98 / This thesis proposes and designs an autonomous transportation robot. It can provide elders and disabled people to cross the crosswalk safely with sensor information fusion for real time decision-making and control by fuzzy inference and the information of image, radar, and encoder etc. In this study, the vision system makes feedback of position offset, and declination angle through the fuzzy controller, the robot could modify the attitude error to cross the crosswalk completely. This thesis considers obstacles in the forward path. Using the vision feedback information to design the fuzzy controller, it can supply obstacle avoidance to make the transportation smoothly. Besides, we also address the robot guide at a crosswalk interface point. The detection of special purpose road for the blinds on the vision system can guide the robot to make a right turn or left turn to the next intersection. In cooperate with the intersection-agent system for collision avoidance, the robot could pass through the next crosswalk safely in order to finish the whole safely intersection system.
| Identifer | oai:union.ndltd.org:TW/098NSYS5490078 |
| Date | January 2010 |
| Creators | Shao-Wei Lai, 賴紹偉 |
| Contributors | Jau-Woei Perng, 彭昭暐 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 131 |
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