| Summary: | 碩士 === 國立中山大學 === 機械與機電工程學系研究所 === 106 === This study proposes a six-wheeled outdoor autonomous mobile robot. The key design concept of this proposed mobile robot is to improve its adaptability and flexibility. This six-wheeled robot platform was equipped with a number of sensors, i.e. the global positioning system (GPS), high definition (HD) webcam, light detection and ranging (LiDAR) and rotary encoders. The personal mobile computer and microcontroller 86Duino one were employed as the computing platform of the algorithms.
The lateral offset and head angle deviation of the robot were calculated by using a differential GPS or a camera to detect the structured and unstructured road boundaries. The lateral offset and head angle deviation were fed to the fuzzy controller, and then the control input of differential speed between the left and right wheels of the robot could be obtained. This made the robot track the reference route for lane keeping. The 2D LiDAR was used for extraction of environmental feature points to identify the position of the robot, and then the simultaneous localization and mapping (SLAM) could be implemented. In addition, the 2D LiDAR was also used to measure the relative distance of the front obstacle. The robot would stop immediately to avoid a collision when the distance between the robot and obstacle was less than the defined safety distance. Finally, the design of the rocker arm made the robot have the ability to climb a low step. The kinetic body balance could be maintained by controlling the angle of the rocker arm when the robot''s pose changed. The feasibility of proposed autonomous mobile robot has been verified for the function of the delivery service in road testing by integrating the above system function.
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