Simulation of a Guided Navigation System for Autonomous Vehicle

• Main Authors: Chen Yung Hsuan, 陳泳萱
• Other Authors: Sheng Chung Teh
• Format: Others
• Language: zh-TW
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/95297059259854121176

碩士 === 國立中興大學 === 生物產業機電工程學系 === 92 === The purpose of this study was to develop a simulation of a guided navigation system for autonomous vehicle applied in the field. This system was developed using VB (Visual Basic). The program was designed in two modules: the routine manufacturing process and a guided autonomous vehicle to move along a working path. The path setting was done by using the Catmull-Rom Splines to develop a friendly interface. Through this interface, users need only input some key points of working paths and the program would generate the working paths automatically. In the guiding program of simulation, to proceed the dynamic tracing simulation was done by using the field data and the controlled parameters, such as the positioning of GPS and electronic compass, and associated with the mechanical performance parameters of the 4WD vehicle , including driving speed, and turning radius. Results showed that this navigating and revising mode was able to have better revision drive orbit when the goal counts was 7 and the interval in the referral route was set to 40 cm, in various row widths or traveling speed . When the positioning error increased, increasing target points would reduce the lateral error for the vehicle effectively.