The Design and Implementation of Steering System and Real-time Controller for an Unmanned Vehicle

• Main Authors: Chen-Wei Chang, 張晨煒
• Other Authors: Li-Sheng Wang
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/448tkj

碩士 === 國立臺灣大學 === 應用力學研究所 === 107 === The purpose of this research is to build an unmanned vehicle system that has the steering mechanism. Utilizing the Ackerman steering condition to keep the heading of the wheels being along the velocity when turning, the wheels roll without side sliding is guaranteed. To determine the position and attitude of the vehicle, the Global Vision Positioning System(GVPS) is adopted. Also, we apply modified the A*-algorithm to perform path planning from point to point without colliding with obstacles. To make the unmanned vehicle fulfill path-tracking mission automatically, we use fuzzy controller in the system, which can provide the appropriate angular velocity and steering angle for vehicle. In the controller, there are three inputs including the deviation of distance, the line of sight and the vehicle heading angle, and one output which is the angular velocity of vehicle. This research change the steering mechanism from speed-difference to 4-bar linkage and integrates fuzzy controller, GVPS and path planning algorithm. Experimental results show that for straight lines, circle, or other designed paths, the unmanned vehicle system can successfully track the desired path.