Self-Localization and Motion Control of an Autonomous Campus-Guiding Robot

• Main Authors: Jui-Jen Hsieh, 謝睿仁
• Other Authors: Yin-Tien Wang
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/89329227042864498377

碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 96 === The aim of this thesis is to develop the mechatronics system for an autonomous campus-guiding robot. The mechatronics system is composed of three layers, namely, the strategy controller, the motion controller, and the motor driving controller. The position information extracted from the Global Positioning System (GPS) and omni-directional vision is integrated in the strategy controller to implement robot self-localization and path planning. The servo control of a two-wheeled mobile robot with nonholonomic constraints is carried out in the motion controller. The motor driving controller accomplishes the current control for DC motors. Each control layer has its own microcontroller that is for the purpose to distribute the computation burden. The integrated robot system can be utilized to perform the missions of autonomous navigation and campus-guiding in outdoor environments.