本論文主要係探討如何設計與實現具全自主式停車功能之車型機器人。此車型機器人依據紅外線感測器以及超音波感測器所得資料來了解本身與外界環境之關係，利用Nios嵌入式系統來整合計算這些資料，並運用模糊控制法來決定車型機器人之行為。在論文中，首先描述整個車型機器人之硬體架構與設定，再分別對車體上的直流馬達單元、伺服馬達單元、驅動電路、Nios 實驗版、類比轉數位單元、紅外線感測器以及超音波感測器單元作分別的介紹與說明。接著探討如何以模糊邏輯控制法則來達成停車控制，其中包含右邊路徑跟隨、左邊路徑跟隨、右邊路邊停車、右邊車庫停車、左邊路邊停車以及左邊車庫停車等功能。再者提出如何運用Nios SOPC Builder, VHDL, 以及C/C++ 語言將所研發停車控制器實現於Nios 嵌入式系統中。最後以實驗成果展現此全自主式停車控制器之可行性與實用性。

　This thesis presents the design and implementation of the intelligent autonomous parking controller (APC) and accomplishes it in a car-like mobile robot (CLMR). This CLMR estimates the environment by integrating the information of infrared and ultrasonic sensors. We utilize the Nios embedded processor system to compute these data and decide the reactive behavior by fuzzy logic control (FLC).

　Firstly, we describe the system architecture of the CLMR. It contains the reconstruction of the chassis of the CLMR, DC motor unit, servo motor unit, driver circuit, Nios development board, A/D unit, infrared sensor, and ultrasonic sensor. Secondly, we develop the intelligent parking control method, which is based on the fuzzy logic control. We propose four parking modes including right-side parallel-parking mode, right-side garage-parking mode, left-side parallel-parking mode, and left-side garage-parking mode. And the CLMR can autonomously determine which mode to use and park itself into the parking lot. Furthermore, we address how to implement the controller by utilizing the Nios SOPC Builder, VHDL, and C/C++ language in the Nios development board. Finally, it is perceived that our intelligent APC is feasible and effective from the practical experiments.

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