| Summary: | 碩士 === 國立臺灣大學 === 應用力學研究所 === 96 === The main theme of this thesis is to develop an integrated navigation and control system for an unmanned vehicle. This system consists of three parts which are main- station, reference-station, and unmanned vehicle. There are various sensors on the vehicle such as a Global Position System(GPS), an electronic compass, a camera and four ultrasonic sensors. The vehicle uses the stereo-vision camera and ultrasonic sensors to detect the distance between the vehicle and the obstacle, electronic compass to measure the vehicle’s posture and GPS information to determine the vehicle’s position. The data exchange mechanism between sub-systems is set up through a wireless network.
The task of obstacle avoidance and path-planning is using ultrasonic sensors and stereo-vision camera to detect the distance between obstacle and vehicle .Use these information from GPS, electronic compass and distance-detect sensors with vector field method to create the path，avoid the obstacle and go to the target . The operation of four ultrasonic sensors is designed by VHDL language and implemented by FPGA. The KGPS is used to set the vehicle’s position. Experimental results show the effectiveness of our proposed navigation and control methodology.
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