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研究生： 彭繼賢
Peng, Jih-Sien
論文名稱： 先進多全向輪無人搬運車之設計與控制系統實現
Design and Control Implementation of Advanced Omnidirectional Automated Guided Vehicle System
指導教授： 劉彥辰
Liu, Yen-Chen
學位類別： 碩士
Master
系所名稱： 工學院 - 機械工程學系
Department of Mechanical Engineering
論文出版年： 2020
畢業學年度： 108
語文別： 中文
論文頁數： 118
中文關鍵詞： 無人搬運車 、麥可納姆輪 、即時定位與地圖構建法 、快速隨機探索樹 、適應性控制 、被動性控制 、同步控制
外文關鍵詞： Automated guided vehicles, path planning, adaptive control, synchronized control, cooperative transportation
相關次數： 點閱：137  下載：18 
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    • 有鑑於現今迫切於有效率的工廠運作系統，無人搬運車變成現今最熱門的移動機器人，多無人搬運車相較於單無人搬運車可搬運更重且更大的物體，進而提升整體的彈性與效率。因此本研究針對協同搬運任務，提出一套完整的無人搬運車系統，此系統包含全向輪無人搬運車、室內地圖建立方法、軌跡規劃、與軌跡追蹤達成協同搬運任務。使用麥可納姆輪於全向輪無人搬運車，可擺脫傳統輪型的物理限制具有全向移動的特性。當協同搬運時，搬運隊伍的姿態需要不斷改變來適應環境，本研究設計一可旋轉承載平台，其旋轉的自由度使得無人搬運車可快速地達成隊伍變換的需求。可旋轉承載平台具有緩衝系統，用於補償承載物體的位移偏差。本研究的無人搬運車具備室內定位、地圖構建的能力，使用即時定位與地圖構建法將地圖建立後，基於此地圖，考慮協同搬運陣形的位置與姿態，使用快速探索隨機樹規劃目標軌跡。在軌跡追蹤的控制器設計上，考慮無人搬運車的系統參數不確定性、輪子摩擦力不確定、
    與外擾下，本論文使用適應性控制器估測以上參數。另外，在無人搬運車之間有通訊的架構下，導入同步控制，維持無人搬運車之間的相對位置，進而提升協同搬運的表現，並基於被動性原理證明其穩定性。最後，以實際全向輪無人搬運車在建立的實驗架構下，驗證本研究提出的系統效能。

    Utilizing multiple small-sized automated guided vehicles (AGVs) in cooperative transportation of large and heavy objects in manufacturing factories or logistics is an emerging research tendency. Flexibility an e_ciency can be enhanced by using multi-AGV comparing to a large AGV with higher capacity, especially in clutter environments. In this paper, the cooperative transportation system consists of Mecanum-Wheeled AGVs (MWAGVs), trajectories tracking control, map constructing, and path planning on formation are studied. The problem of cooperative transportation is carrying cargo with _xed geometry and uncertainties on MWAGVs or formation. Therefore, MWAGVs are proposed with Mecanum wheels and rotary platform that provides omnidirectional movement but also compensation of displacements of cargo. Meanwhile, adaptive control is introduced to estimate the uncertain terms, whereas synchronization control is addressed to maintain formation, i.e., distance between MWAGVs. Additionally, the controller is proved to be stable by the passivity-based theorem. The optimal solution of rapidly-exploring random trees (RRT*) is used to plan a feasible path for cargo while MWAGVs' paths are generated with respect to cargo center point given the geometry of formation, an given initial position, and goal position. Finally, the proposed controller track desired trajectories to accomplish cooperative transportation tasks. Experiments are validated to verify the performances of the proposed system.

    第一章緒論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1 研究背景. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1.1 無人搬運車. . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1.2 定位及導航系統. . . . . . . . . . . . . . . . . . . . . . . . . 4 1.1.3 路徑規劃. . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.1.4 多機器人系統. . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.2 文獻回顧. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.3 研究動機與目的. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 1.4 研究目標與貢獻. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 1.5 論文架構. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 第二章基礎理論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.1 Lyapunov穩定性. . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.1.1 非自主系統穩定特性. . . . . . . . . . . . . . . . . . . . . . 14 2.1.2 Lyapunov 函數與基本定理. . . . . . . . . . . . . . . . . . . 16 2.1.3 Barbalat's Lemma . . . . . . . . . . . . . . . . . . . . . . . 17 2.2 圖形理論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 2.3 被動性原理. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 2.4 移動機器人系統. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 2.4.1 機器人動力方程特性. . . . . . . . . . . . . . . . . . . . . . 25 2.5 全向移動機器人設計準則. . . . . . . . . . . . . . . . . . . . . . . 26 第三章無人搬運車之設計. . . . . . . . . . . . . . . . . . . . . . . . . . . 29 3.1 組態分析. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 3.2 機器人運動分析. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 3.3 全向輪無人搬運車設計. . . . . . . . . . . . . . . . . . . . . . . . . 37 3.3.1 移動平台. . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 3.3.2 承載旋轉平台. . . . . . . . . . . . . . . . . . . . . . . . . . 37 3.4 全向輪移動機器人動力模型. . . . . . . . . . . . . . . . . . . . . . 43 3.5 協同搬運系統. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 第四章軌跡規劃. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 4.1 即時定位與地圖構建法(SLAM) . . . . . . . . . . . . . . . . . . . . 47 4.2 快速探索隨機樹. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 4.3 單台實驗結果與討論. . . . . . . . . . . . . . . . . . . . . . . . . . 54 4.4 協同搬運模擬結果與討論. . . . . . . . . . . . . . . . . . . . . . . 56 第五章基於被動性適應性同步控制. . . . . . . . . . . . . . . . . . . . . . 59 5.1 控制器設計. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 5.2 穩定性證明. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 5.3 模擬結果與討論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 第六章實驗架構與結果. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 6.1 實驗設備. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 6.1.1 全向輪無人搬運車. . . . . . . . . . . . . . . . . . . . . . . 77 6.1.2 機器人作業系統. . . . . . . . . . . . . . . . . . . . . . . . . 78 6.1.3 外部定位系統. . . . . . . . . . . . . . . . . . . . . . . . . . 80 6.2 實驗流程. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 6.3 單台MWAGV追蹤實驗結果. . . . . . . . . . . . . . . . . . . . . . 82 6.4 多台MWAGV追蹤實驗結果. . . . . . . . . . . . . . . . . . . . . . 89 6.4.1 物體的複雜目標軌跡追蹤. . . . . . . . . . . . . . . . . . . 89 6.4.2 室內空間之軌跡追蹤. . . . . . . . . . . . . . . . . . . . . . 99 6.5 實驗結果與討論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 第七章結論與未來展望. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 7.1 結論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 7.1.1 全向輪無人搬運車設計. . . . . . . . . . . . . . . . . . . . . 110 7.1.2 室內地圖構建與軌跡規劃. . . . . . . . . . . . . . . . . . . 110 7.1.3 協同搬運系統. . . . . . . . . . . . . . . . . . . . . . . . . . 111 7.2 未來展望. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 參考文獻. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

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