Intersection Guiding System for Robot Cars

• Main Authors: Ting-WeiChiu, 邱庭偉
• Other Authors: Ying-Yu Lin
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/qb8j5r

碩士 === 國立成功大學 === 航空太空工程學系 === 107 === This thesis proposes a simple, safe, and practical regulator system to guide and monitor robot cars passing through roads intersection efficiently. It can be a useful reference for future automatic transportation on land traffic management. The complete system includes three parts, the traffic surveillance center, the intersection regulator, and the automatic robot cars, and they shall work closely together to achieve the purpose. To focus the investigation on the ground situations, the study emphasizes on the design and buildup of the last two items. The intersection is designed with two-land traffics in concentric circles at the crossing of two two-lane roads, which are perpendicular to each other. The regulator receives and records info reported by each car right before its arrival at one of the four entrances of the intersection through WIFI network. Then, according to the car stream inside the intersection, the number of cars waiting outside of the entrances, and the guiding rules, the regulator determines and directs the cars when to enter into the intersection through traffic lights at the entrances. A simulation program is also developed for the purposes of designing and analyzing the effectiveness of the guiding rules for passing through the intersection. It can select random number of cars for the simulation, displays the movements of all the cars in animation, and records the total passing time of each car. To verify and enhance the applicability of the study, a robot car is built to equip with WIFI communication device, sending its information such as ID number, location, and collision accidence inside the intersection to the regulator. Also, it can follow the tracking mark on the ground, detect obstacles around the car, identify traffic symbol captured by CCD camera onboard. Simulation and hardware experiment results indicate that the proposed system for intersection crossing can be an efficient method on automatic transportation in the future.