碩士 / 吳鳳科技大學 / 光機電暨材料研究所 / 101 / In this research, we use a two wheels differential vehicle as the restaurant guide service robot’s carrier. Equipped with SICK laser positioning system and Star-Gazer indoor positioning system on the robot, the restaurant robot can be precisely positioned. By using the route planning system to calculate the shortest path, the robot marches efficiently. In order to detect obstacles, the robot is mounted at the bottom with the multiple sensors including a laser range finder as the based obstacle detection of distance and a reflective infrared sensor as the closer obstacle detection. Therefore safety is secured when the robot is moving on the road.
Path error measurements are conducted using different positioning systems. Path error measurements are implemented under three experimental conditions: First, the robot is eguipped with SICK laser positioning system. Secoudly, the robot is guided using Star-Gazer indoor positioning system. Third,the robot is without any positioning system. To evaluate the stability of the robot, it is tested by moving the two wheels differential mobile platform moving along a straight path, a circular path and a square path. It can be found from results that when the robot moves in the higher speed, path error is greater. And traveling further away accumulateds greater error. In practice, the control software is written with the Visual Basic 6.0. We can send control instructions via RS232 interface to the motor drive. Then the motor drive controls motors accordingly to move the robot along the planned path.
| Identifer | oai:union.ndltd.org:TW/101WFIT0124007 |
| Date | January 2013 |
| Creators | Jang,Bo-Shiang, 張博翔 |
| Contributors | Tan, Chung-Ming, 譚仲明 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 144 |
Page generated in 0.0134 seconds