Obstacle Avoidance for Tracked Robots System

• Main Authors: J.Y. Xiao, 蕭鈞毅
• Other Authors: 林仲廉
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/39385342162024339945

碩士 === 清雲科技大學 === 機械工程研究所 === 100 === In this research, FPGA (Field-Programmable Gate Arrays) is used to construct the con-trol system. The proposed control system includes a motor drive unit, ultrasonic sensor, remote control, and image processing, etc. The control system is through Verilog HDL programming language to implement the control algorithm. The tracked robot is used as the testbed for the proposed control algorithm. The main advantage for such robot is its potential ability action in harmful environment, especially in rugged ground. Thus, the tracked robots detect obstacle by eight ultrasonic sensors to calculate the distance while moving process. With the planning of obstacle avoidance function, the proposed tracked robots can do autonomous obstacle avoidance and follow the desired trajectory to destination target. Finally, the real-time experimentation is successfully applied to verify the proposed obstacle avoidance control algorithm.