碩士 / 國立臺北科技大學 / 機電整合研究所 / 101 / The purpose of this study is to design, analyze and control a mobile robot with adjustable wheelbase function. Function of robot adjustment wheelbase is from the linkage mechanism, it could help the user to set or adjust in response to different situations. The Arduino ATmega2560 development board as the entire system master core, which function contains the circuit signal capture, remote control and motor control, using optical encoder feedback signals combined with PID control to achieve the two wheels go forward synchronously. By the Bluetooth slave inserted in LED lights as well as Bluetooth master in conjunction with the Wi-Fi to create the Internet of Things and locate the robot position, robot also equipped with Kinect to achieve obstacle avoidance capabilities. The data between Arduino, Bluetooth and Kinect communicate through the laptop terminal on the robot the software Processing.In addition, by real indoor environment to construct two-dimensional map interface, with this graphical interface we can set the end position and observe the position and trajectory of the robot. Implementation process of using the fuzzy controller embedded in MCU to complete the robot motion control and navigation.
| Identifer | oai:union.ndltd.org:TW/101TIT05651045 |
| Date | January 2013 |
| Creators | Wei-Chia Shao, 邵韋嘉 |
| Contributors | , 黃榮堂, 蔡定江 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 85 |
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