本論文主要探討如何設計與實現具多功能智慧型停車功能之車型機器人。此車型機器人依據個人數位助理(PDA)所下命令、整合超音波感測器陣列所得資訊以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Nios嵌入式系統發展版、直流馬達單元、伺服馬達單元、驅動電路、超音波感測器、PDA及無線模組等作分別的介紹與說明。接著探討如何以超音波感測器利用雙耳法則(Binaural method)做反射物類型的判別與定位及改進使用上的盲點。再者提出以模糊邏輯控制法則來達成停車控制及障礙物偵測與閃避，其中包含路徑追隨、路邊停車、車庫停車、停車路徑之障礙物偵測與應變及行進路徑之障礙物偵測與閃避。最後以實驗結果展現此多功能智慧型停車控制器之可行性與實用性。

This thesis presents the design and implementation of the multi-functional intelligent autonomous parking controller and accomplishes it in a car-like mobile robot (CLMR). This CLMR possesses the function to accept the command from the personal digital assistant (PDA), and estimates the environment by integration of ultrasonic sensors array. We utilize the Nios embedded system development board to compute these data and decide the reactive behavior by the fuzzy logic control (FLC).
In the thesis, we first describe the system architecture of the CLMR, which contains the reconstruction of the chassis of the CLMR, Nios development board, DC motor unit, servo motor unit, driver circuit, ultrasonic sensors, PDA, and wireless module. Secondly, we address how to determine the type and position of the reflector by ultrasonic sensors with the binaural method, and improve the blind spot of detection. Furthermore, we develop the intelligent parking control and obstacle avoidance method, which are based on the fuzzy logic control. We propose several modes including wall-following mode, parallel-parking mode, garage-parking mode, and obstacle avoidance mode, which can detect the obstacles on the forward path or the parking lot and deal with the contingency. Finally, it is perceived that our intelligent multi-functional intelligent autonomous parking controller is feasible and effective from the practical experiments.

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