碩士 / 國立宜蘭大學 / 生物機電工程學系碩士班 / 104 / Based on the modeling scheme of a mixed logical dynamic system (MLDS), this thesis designed a wall-following omnidirectional automated guided vehicle (AGV) for stable movement in the known indoor corridor. This thesis used a programmable logic controller (PLC) as a control core unit of the AGV. Six laser distance sensors, one laser range scanner and a pair of encoders were outfitted in the AGV to detect the environmental variation while the AGV goes through the indoor corridor. By integrating an analog to digital converter (ADC) and the built-in comparator in a PLC, analog signals from multi-sensors were respectively digitized and coded into according multi-bit input signals to form plural finite states for increasing the resolution to detecting environmental variations. For identifying wall-following and angular/moving deviation states, this thesis used the Boolean algebra algorithm to deduce the logical switching relations while the AGV goes through the corridor. In the same conditions, the complex logical issues existing in the direction-speed control of the AGV was controlled. The proportional control algorithm was compiled into the controller of the AGV to accurately modulate the AGV’s speed to reduce position error issuing from the inertial movement of the AGV. With the integration of an on-line data-logging card and the PLC (i.e. a control core unit of the AGV), the moving statuses of the AGV could be recorded. This thesis used an off-line data processing procedure to analyze the motional characters (e.g. trajectory, average moving rate, angular velocity and full time) of the AGV. The above data analyses demonstrate that the AGV could stably move in the known indoor corridor and angular/moving deviation of the AGV were kept in a target range. The results indicate that the performance in the above methodologies work well and this example can also serve as a case study to show how to design a hybrid control system for the other similar applications.
| Identifer | oai:union.ndltd.org:TW/104NIU00730002 |
| Date | January 2016 |
| Creators | Chung-Yung Tseng, 曾鍾湧 |
| Contributors | Li-John Jou, 周立強 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 99 |
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