基於六邊形包覆單元搭配環場攝影機做室內停車場的完整包覆

本文提出一利用環場攝影機將不規則且有障礙物的停車場地圖做一完整包覆。一般之完整包覆乃利用正方形或者正三角形做包覆，其包覆損失率過高，本文改採用正六邊形為包覆單位，其包覆損失率遠小於正方形或正三角形，並且，正六邊形是我們可找出的最大完整拼湊圖形。在論文當中，我們先將障礙物移除，利用完全覆蓋的路徑規劃之後，再將障礙物放入，之後算出障礙物周圍一圈的包覆單元是否包覆損失率過高，若太高，則不擺置攝影機，否則放置攝影機，如此將可達到最少的包覆損失率，並且我們會引用一套方法，將不規則且具有障礙物的環境分割成簡單的矩形，方便計算。最後我們將計算出改善之效益以及實際應用於北科大之地下停車場。

關鍵字

六邊形；完全包覆；環場攝影機； PTZ攝影機

並列摘要

The thesis proposes a complete coverage of irregular car park floor filling several obstacle using Omni-directional cameras. The common way of a complete coverage is using square or equilateral triangle cells, but lacks in efficiency. The proposed method is to use a regular hexagon as a single cell; that yields higher efficiency. The regular hexagon pattern allows us to determine the most complete scraping together. In our research, Firstly, all the obstacles are temporarily removed during the complete coverage path planning. Later, the coverage lost is calculated with obstacles placed back in, if the efficiency is too low, no camera will be installed for that cell. Furthermore, we will use a special algorism, to divide the irregular and obstacle filled environment into simple tetragon, to reduce the complexity of calculation. Finally, we shall compute the efficiency improvement and apply the algorithm to the practical indoor car park in NTUT.

並列關鍵字

hexagon ； complete coverage ； omni-directional camera ； PTZ camera (pan tilt and zoom)

參考文獻

[1] S. Hert, S. Tiwari and V. Lumelsky, “A Terrian-Covering Algorithm for an AUV” Autonomous Robots, 3 (2-3), 1996, 91-119

[2] R. Neumann de Carvalho, H.A. Vidal. P. Vieira and M.I Ribeiro, “Complete Coverage Path Planning and Guidance for Cleaning Robots” IEEE CNF, ISIE, 1997, 677-682

[3] Wang Meiting, Tan Shili, Ding Junjian and Yan Liwen, “Complete Coverage Path Planning of Wall-Cleaning Robot Using Visual Sensor” IEE CNF, EMI, 2007,4-159 - 4-464

[5] Chaomin Luo, Simon X. Yang and Xiaobu Yuan “Real-Time Area-Covering Operations with Obstacle Avoidance for Cleaning Robots”, IEEE Cnf, RSJ, 2002, P.2359-P.2364

[6] Chaomin Luo, Simon X. Yang and Deborah A. Stacey, “Real-time Path Planning with Deadlock Avoidance of Multiple Cleaning Robots” International Conference on Robotics & AUtOmPtion Taipei, Taiwxn, September 14-19. 2003, P.4080-P.4085

國際替代計量

基於六邊形包覆單元搭配環場攝影機做室內停車場的完整包覆

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