| Summary: | 碩士 === 國立臺灣大學 === 應用力學研究所 === 96 === The main purpose of this thesis is to develop a precise positioning and energy-saving outdoor automatic vehicle system, which includes the main station, the reference station and the moving vehicle. Firstly, we use a solar modular system to steadily charge the Uninterruptible Power Supply (UPS) on the moving station to save the energy. As for the sensors, we integrated the GPS, INS and electronic compass to obtain the position and attitude of the vehicle. The position information is computed by using either KGPS (Kinematics GPS) for GPS or INS through the kinematics equation. Moreover, electronic compass is used to determinate the attitude.
In order to attain more accurate positioning, we use three algorithms to integrate GPS/INS：WLS(Weighted Least Squares), RLS(Recursive Least Squares) and KF(Kalman Filter). The position obtained is compared with the desired position. The fuzzy algorithm is then invoked to find the linear velocity compensation and angular compensation of the vehicle. The compensations are transmitted to the motion control card by using wireless link, which drive the vehicle to finish the path tracking. The experimental results showed that the proposed design is feasible.
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