| Summary: | 碩士 === 國立臺北科技大學 === 機電整合研究所 === 102 === As technologies progress very much, the developed countries have taken advantages of electronic, electrical, control, communication technologies into advanced automation equipment development. The development of unmanned production technology has reduced the reliance on manpower and improved the quality of production. Automation equipment involves numerous fields and sophisticated systems, the logistics is also an important part of automation. Thus the demand of LGV has emerged. The development of semiconductor technology change embedded systems rapidly, and significantly enhance the computing speed, broad their applications. PC-Based architecture is for automated guided freight system, which has often used high performance but is relatively bulky. An idea is proposed to develop a automated guided vehicles using embedded systems, as a new choice.
This research aims to develop a automatic control system of laser guided vehicle. This study has developed a algorithm to make the vehicle follow the established path automatically, with the laser scanner providing relative position information. Compared with other current navigation methods, and adopt a new path-following guidance weighted vector correction method as the foundation to create a path-following guidance correction which can improve the path-following guidance weighted vector correction method in which the convergence is not quick enough. With this new approach, the developed LGV can get a better results for navigation.
In the experiment of verification, this research adopts the frame of a automated guided truck provided by our cooperative company, and equips with a laser scanner, programmable logic controller (PLC), embedded system radio communication module and other business equipment etc. By tuning the parameters in the developed algorithm according to the velocity and direction to obtain positioning information, this new algorithm has been proved to do the automated transport task successfully.
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