本論文主要探討多自走車跟隨系統，一主車使用攝影模組做影像處理跟隨標的物而兩台從車利用紅外線分別去追隨前車以達到多車跟隨之目的。主車在硬體上分為兩大部分，以Raspberry Pi和攝影模組做影像處理，及以Arduino做馬達控制與紅外線信標兩部分，兩者間使用UART進行溝通，將影像處理得到的目標物資訊做PID控制將其輸出給Arduino以PWM控制車輪轉速，而紅外線信標將作為標的物使從車得以進行跟隨。從車方面使用多個紅外線接收器判斷信標位置並且使用距離感測器判斷距離，最後將各資訊以I2C傳給Arduino進行自走車的跟隨。;This thesis mainly discusses the following system of multiple autonomous cars. The main autonomous car uses the camera module to do image processing to follow the target, and two slave autonomous cars use infrared sensors to follow the car in front to achieve the purpose of multiple autonomous cars following. The main car is divided into two parts in hardware. Raspberry Pi and camera module are used for image processing, and Arduino is used for motor control and infrared beacon. The two parts use UART to communicate, and the target information obtained by image processing is used for communication. Apply PID control and output it to Arduino to control the wheel speed with PWM, and the infrared beacon will be used as the target so that the slave car can follow. From the slave car side, multiple infrared receivers are used to determine the position of the beacon and the distance sensor is used to determine the distance. Finally, the information is transmitted to the Arduino by I2C to follow the autonomous car in front.
