基於影像辨識之機器人即時定位與導航

Navigation system based on landmark recognition for autonomous mobile robot

何韋均(Wei-Chung Ho)

指導教授 ： 黃英哲

元智大學/電機通訊學院/電機工程學系/碩士(2011年)

https://doi.org/10.6838/YZU.2011.00241

摘要

本論文提出基於影像辨識機器人之即時定位與導航的實現。此導航系統使自主機器人依照貼在天花板之標誌行進至目的地。該導航之標誌為字元及特定設計之圓點所組成，經由此導航系統可旋轉此標誌並得到其中之意義。此系統將比對過後之結果經由藍芽將資料傳送至自主機器人，使自主機器人根據標誌之意義做出相對應之行動。其中影像處理包含標誌辨識及字元辨識，藉由標誌以及光學字元辨識系統，此導航系統可使機器人到達目的地。本文設計了三個實驗，其中包含位於室內之定點拍攝、位於室外之定點拍攝及即時定位導航，以上實驗均證明本文中之導航系統可有效實行本實驗之目的。

關鍵字

導航 ； 標誌辨識 ； 自主式機器人

並列摘要

In this thesis, a navigation system based on landmark recognition for an autonomous mobile robot was proposed. This navigation system directs the autonomous robot to a destination or desired path according to landmarks attached to the ceiling. For template matching method, the landmarks are composed of alphanumeric codes and specific points that the navigation system could rotate the images of landmarks. After template matching, the navigation system sends commands via Bluetooth communication to make the robot move forwards/backwards, turn right/left, or stop based on the alphanumeric codes. The image recognition includes landmark recognition and character recognition. By using landmarks and OCR (Optical Character Recognition), the navigation system makes the robot move towards the destination. There were three experiments including testing a given landmark (indoor), testing a given landmark (outdoor), real-time navigation. These three experiments demonstrated the navigation system is useful.

並列關鍵字

Navigation ； Landmark Recognition ； Autonomous Robot

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