自主移動機器人之智能導航控制系統的設計與發展

Design and Development of an Autonomous Mobile Robot's Intelligent Navigation Control System

呂育宏(Yu-Hung Lu)

指導教授 ： 張永鵬 ； 陳冠宇

中原大學/工學院/機械工程學系/碩士(2007年)

https://doi.org/10.6840/cycu200700555

摘要

本文的研究目的在設計並發展自主移動機器人的智能導航控制系統，採用開放式模組化結構設計系統，包括避障與巡邏二個部分，藉由超音波感測器及立體視覺系統量測環境資訊辨識障礙物的大小、距離與位置及規畫運動路徑，使機器人可以成功的閃避障礙物；並搭配內建的地圖資訊，使機器人可以適應複雜的環境變化，完成大樓巡邏的任務。本文設計三項實驗測試並驗證機器人的避障功能、特定環境的控制模組整合及全程自主巡邏大樓的功能，由實驗結果顯示，本文提出的智能導航控制系統能成功使機器人具備自主完成大樓巡邏的任務，在總行程約115公尺完成巡邏任務所需之時間約為13分鐘。

關鍵字

智能導航 ； 自主移動機器人 ； 避障

並列摘要

The subject of this dissertation is to design and develop an intelligent navigation control system for an autonomous mobile robot using open modular structure. Here, the proposed control system may be divided into two parts. One is the obstacle avoidance system and the other is the patrol system. Measuring the environment information by two ultrasonic sensors and a stereo vision system for the obstacle avoidance system can evaluate the volume, distance, and location of obstacles to let the robot successfully avoid obstacles. Also, according to the build-in map data let the robot adapt complex change of environment and complete the mission of building patrol. There are three experiments to be designed in the dissertation for verifying the obstacle avoidance ability, integration of control modules in specially designated environment, and autonomously building patrol capability of the robot. The experiment results show that the robot can successfully accomplish the building patrol mission by using the proposed intelligent navigation control system. The totally route is about 115 meters and the patrol mission completed time is about 13 minutes.

並列關鍵字

autonomous mobile robot ； intelligent navigation ； obstacle avoidance

參考文獻

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[20]錢鉦津，模糊控制之立體視覺影像追蹤系統，碩士論文，中原大學機械工程學系，2005。

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