以NIOS系統實現具路徑規畫之輪型機器人

Implementing Path Planning for a Wheel Mobile Robot through a NIOS Based Control System

蔡秉翰(Ping-Han Tsai)

指導教授 ： 王仲淳

元智大學/電機通訊學院/電機工程學系/碩士(2007年)

https://doi.org/10.6838/YZU.2007.00067

摘要

機器人在導航時，在環境中的定位是困難但是卻基本必須的工作。本論文提出一個機器人定位以及地圖建構之系統，透過此演算法規劃最短路徑來到達使用者事先指定的地點。
　　本文演算法利用基因演算法的全域搜尋特性，加上Ａ＊路徑評估準則的局部搜尋特性，使其能規劃出一條可行路徑。
最後，我們將藉由電腦模擬及實際的結果，來驗證所提出方法的
效益及適用性。

關鍵字

基因演算法 ； Ａ＊演算法 ； 導航

並列摘要

Robot localization has been a very challenging task in mobile robotics since it in essential for a broad range of mobile robot tasks. This thesis proposes a new vision-based robot localization and map-building algorithm. Via the proposed algorithm, a robot can plan a shortest path to visit some particular locations pre-specifies by the user.

This algorithm has the global searching characteristic that from Genetic Algorithm, also combines the localized searching feature with A* path evaluation standard rule. There can be schemed a reasonable path itself with this algorithm.

Finally, both simulations and the practical experiments demonstrate the feasibility and effectiveness of the proposed schemes

並列關鍵字

Genetic Algorithm ； Ａ＊Algorithm ； Navigation

參考文獻

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