The Study of Path-Following Navigation for Unmanned Vehicles

• Main Authors: You-Hong Chen, 陳祐泓
• Other Authors: 曾百由
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/wtcm7s

碩士 === 國立臺北科技大學 === 機電整合研究所 === 98 === Due to the development of Micro/Nano technology, mechanical and electronic elements become more miniaturized, lightweight and higher performance in recent years; therefore, the development of unmanned vehicle has been expanded. In the past, the unmanned vehicles were applied to military field only, but recently they are popular for civilian use in science and business. The goal of this paper is to develop an Unmanned Autonomous Vehicle (UAV) with the capability of path-following navigation, according to data provided by the on-board sensors to achieve autonomous navigation on planned path. In the search of navigation strategies, this paper compared several basic navigation methods which have been adopted by performance index specifications and an adaptive control method is proposed and experimented to assure the minimum deviation of the vehicle motion from the planned path by many standards. Furthermore, the path-following guidance- Weighted Vector Correction method has been selected to be the navigation method. Adaptive control tuning method was proposed to improve the vector correction method and obtain the best performance. In the design of controller, this paper has adopted fuzzy logic and PID(Proportional Integral Derivative) to be the control laws of UAV in the simulation and experiment. In the realization of hardware system, the GPS (Global Positioning System), digital compass and wireless communication system have been integrated to obtain the position and attitude of UMV. Via the navigation method correction and the controller modulation, the attitude of UMV was controlled to accomplish the goal of autonomous navigation.