| Summary: | 碩士 === 國立臺灣大學 === 農業機械工程學系 === 84 === The thesis studied the guidance of an automated guided
vehicleAGV) in indoor environment. In order to illustrate
theeasibility of the derived approach, an automated guided
vehicleas built. The entire structure of the AGV could be
divided intoour modules:positioning module,navigation module,
commuciationodule, and vehicle module. Concerning the
positioning module,aCD camera was applied to acquire
environment information. Throughhe process of calibration and
mapping, the feature mark on theGV was recognized via Hough
transformation. To generate the seedoint for the image
processing, neuro network approach was usedo predicted the
movement of the vehicle. In the navigationodule, environment
model was constructed by cell decompositionethod, and then the
optimal path was obtained through routingpproach. If necessary,
B-spline curves could be used to generatesmooth path. Regarding
the communication module, a navigationnd monitor/control
computer communicated with the computer onhe vehicle by radio
modems. As for the vehicle module, PWM wasdopted to drive motor
and error was compensated through PDontroller. As a result, it
was proved that a safe and optimal path coulde generated in the
model-base environment. We also planned amooth path composed by
B-spline curves, and the smooth path wasven better then the
original path in terms of distance.egarding the performance of
AGV, the deviation was around 2.7cmn a straight path with
length 51.2cm. Yet there were turningoints in the 107.6cm
planned path, the maximum error was up to.8cm or so.
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