智慧型導航機器人技術概論

Introduction to Navigation Technologies for Intelligent Robots

許陳鑑(Chen-Chien Hsu) ； 王偉彥(Wei-Yen Wang) ； 龔彥丞(Yen-Cheng Kung) ； 簡江恆(Chiang-Heng Chien) ； 溫苡柔(Yi-Jou Wen) ； 章家瑜(Chia-Yu Chang)

《中等教育》 66卷3期 (2015/09) Pp. 14-36

https://doi.org/10.6249/SE.2015.66.3.02

摘要

本文主要針對智慧型機器人導航的三項主要技術：建圖、定位、路徑規劃，做一簡單的介紹，讓讀者有基本的觀念可以實現具備自主導航能力的機器人。對於現有諸多的演算法當中，我們以迭代最近點演算法、蒙地卡羅定位法、以及一些路徑規劃演算法為基礎，分別進行改良，並利用模擬及實驗來證明其效能。藉由這篇文章，讀者可依照所提出的技術，激發更多創新的想法，使得導航科技更臻於完善。

關鍵字

機器人導航 ； 機器人建圖 ； 機器人定位 ； 機器人路徑規劃 ； 移動式機器人

並列摘要

This paper presents a brief introduction towards the issues of robot navigation, including map building, localization, and path planning. Among all the existing contributions, Iterative Closest Point (ICP), Monte Carlo localization, and various path planning algorithms are first reviewed and subsequently revised in this paper to propose enhanced versions of the algorithms to improve their performance. In order to evaluate the effectiveness of the proposed approaches, several experiments are conducted and illustrated in details. Through the proposed algorithms, implementation can be made to achieve the objective of autonomous navigation for mobile robots. It is also hoped that new navigation methods with further improvements can be introduced on the basis of the techniques revealed in this paper.

並列關鍵字

robot navigation ； map building ； localization ； path planning ； mobile robots

參考文獻

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