| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 91 === This thesis investigates the system integration technology of the Adaptive-Configuration-Explorer (ACE), including the kinematics structure, the mechatronic module and a path planning system. ACV possesses high local mobility and obstacle crossing ability due to the design of four independent drives and the active rock arms. The goal of the study is to provide ACE the autonomous maneuver capability in a known environment, to demonstrate the application for unmanned explorations. The interface is implemented using Visual Basic and MATLAB. Internet technology is applied for the remote control of ACE. The client computer is in charge of the path planning and the generation of motion commands. Then, the server transmits the controlling signals through wireless module to the ACE''s single chip computer for motion control. In order to apprehend the controlling procedures of various actuators and the motion parameters of ACE, this study uses a dynamic kinematics simulation system, ADAMS to simulate the motions of mechanism. The locomotion of ACE is controlled by the parameterized motion commands to simplify the control scheme. A prototype path planner, the Modified Tangent Bug(MTB) Algorithm , is described and implemented to the vehicle navigation. MTB automatically generates a feasible path to a designated goal for ACE to avoid blocking obstacles, and to stride over passable obstacles in a given environment. The generated path is then decomposed into a sequence of motion commands to control the vehicle. At last, a prototype control system of ACE is constructed to verify the proposed integration scheme.
|
|---|
