| Summary: | 碩士 === 中國文化大學 === 機械工程學系數位機電碩士班 === 106 === This thesis investigates issues of path planning, motion control, and the car-following with Bluetooth communication. First, the path planning is performed with a fifth-order polynomial of the time. For a given set of boundary conditions of the positions, the velocities and the accelerations, a smooth trajectory fulfilling the aforementioned boundary conditions can be uniquely obtained. Next, experiments for verifying the consistency between the actual trajectory and the simulated trajectory are conducted.
The PID control method is adopted for its wide popularity. Its major advantages are strong robustness, easy to use, and easy to tune, etc. By setting the sampling interval, the motor encoder feedback signal is read in each interval, and then the controller calculates the path error. Finally, the PID system gives the motor compensation according to the error value.
For the car-following tasks, we first proceed the Bluetooth module connection. After completing the Bluetooth connection and the actual verification, the car-following vehicle system can be started with giving a command to the first car with a computer monitor. When the first vehicle receives the command, the preceding vehicle moves according to the command, and the command is transmitted to the following vehicle. Finally, the rear vehicle moves according to the command transmitted by the preceding vehicle, and the difference between the two transmission modes is compared. Experimental results were quite satisfactory for meeting the control objectives.
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