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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 郭振華 | |
dc.contributor.author | Po-Wei Wu | en |
dc.contributor.author | 吳柏葳 | zh_TW |
dc.date.accessioned | 2021-06-07T17:50:14Z | - |
dc.date.copyright | 2013-01-16 | |
dc.date.issued | 2012 | |
dc.date.submitted | 2013-01-08 | |
dc.identifier.citation | [1] A. Bais and R. Sablatnig, 'Landmark based global self-localization of mobile soccer robots,' Computer Vision - Accv 2006, Pt Ii, vol. 3852, pp. 842-851, 2006.
[2] F. A. Moreno, J. L. Blanco, and J. Gonzalez, 'Stereo vision specific models for particle filter-based SLAM,' Robotics and Autonomous Systems, vol. 57, pp. 955-970, Sep 30 2009. [3] I. Moon, J. Miura, and Y. Shirai, 'On-line viewpoint and motion planning for efficient visual navigation under uncertainty,' Robotics and Autonomous Systems, vol. 28, pp. 237-248, Aug 31 1999. [4] I. Moon, J. Miura, and Y. Shirai, 'On-line extraction of stable visual landmarks for a mobile robot with stereo vision,' Advanced Robotics, vol. 16, pp. 701-719, 2002. [5] M. Xu, J. Ren, D. Y. Chen, J. S. Smith, Z. C. Liu, and T. Y. Jia, 'Robust object detection with real-time fusion of multiview foreground silhouettes,' Optical Engineering, vol. 51, Apr 2012. [6] T. Lemaire and S. Lacroix, 'Monocular-vision based SLAM using Line Segments,' Ieee International Conference on Robotics and Automation, vol. 10, pp. 2791-2796, April 2007. [7] T. Lemaire, C. Berger, I. K. Jung, and S. Lacroix, 'Vision-based SLAM: Stereo and monocular approaches,' International Journal of Computer Vision, vol. 74, pp. 343-364, Sep 2007. [8] Y. H. Hu, W. Zhao, and L. Wang, 'Vision-Based Target Tracking and Collision Avoidance for Two Autonomous Robotic Fish,' Ieee Transactions on Industrial Electronics, vol. 56, pp. 1401-1410, May 2009. [9] J. Guo, 'Target tracking using a biomimetic underwater vehicle - Selecting measurement strategies to minimize estimation error and motion control cost for a waypoint guidance system,' Sea Technology, vol. 49, pp. 47-50, Feb 2008. [10] J. Guo, 'Maneuvering and control of a biomimetic autonomous underwater vehicle,' Autonomous Robots, vol. 26, pp. 241-249, May 2009. [11] J. H. Guo, 'A waypoint-tracking controller for a biomimetic autonomous underwater vehicle,' Ocean Engineering, vol. 33, pp. 2369-2380, Dec 2006. [12] K. Cantrell, M. M. Erenas, I. de Orbe-Paya, and L. F. Capitan-Vallvey, 'Use of the Hue Parameter of the Hue, Saturation, Value Color Space As a Quantitative Analytical Parameter for Bitonal Optical Sensors,' Analytical Chemistry, vol. 82, pp. 531-542, Jan 15 2010. [13] S. Thrun, W. Burgard, D. Fox, “Probabilistic Robotics,” The MIT Press, London, England, 2005. [14] G. Bradski, A. Kaehler, “Learning OpenCV: Computer Vision with the OpenCV Library,” O'Reilly, Cambridge, 2008. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/15697 | - |
dc.description.abstract | 本論文探討仿生機器魚使用單眼攝影機與電子羅盤及加速度計,在已知的水下環境下進行定位及導航。本文首先建立被觀測物體與單眼視覺的關係式,通過色彩空間演算法來對目標物做分類,再使用邊緣偵測找出目標物在影像中的位置與寬度,並利用這些資訊經由實驗估測出,機器魚視訊攝影機與已知目標物間的距離及角度關係。而估測出的相對關係即可做為機器魚的觀測資訊,此資訊整合方向及加速度的資料,與機器魚估計自身的運動關係即是機器魚之運動模型。此運動模型與觀測資訊可用來構成機器魚之延伸型卡曼濾波器定位演算法,以達成機器魚在已知的水下環境中進行定位之目的。最後,本文利用模擬水下機器人競賽的關卡當作已知環境來驗證此導航法之可行性。 | zh_TW |
dc.description.abstract | This article describes a localization and navigation algorithm in a known underwater environment for a biomimetic robotic fish. The navigation algorithm combines information out of a monocular camera, an electronic compass, and accelerometers. The method of localization finds the relative position and orientation of a monocular camera with respect to an environment object by classifying the object in the image color space, then using edge detection to identify the position and width in the reference coordinate. Extensive tank experimental data were gathered to estimate the relative distance and angular relationship between the robotic fish and its environment object. Information of the relative position and orientation can be used as the observation data for the robotic fish by integration with acceleration data and the motion model of the robotic fish to calculate the motion estimation. An Extended Kalman filter localization algorithm was then formed for the robotic fish to perform self-localization in the known underwater environment. Finally, a simulated site for an international aqua robot competition event was used as an example to verify the feasibility of the proposed localization and navigation method. | en |
dc.description.provenance | Made available in DSpace on 2021-06-07T17:50:14Z (GMT). No. of bitstreams: 1 ntu-101-R99525083-1.pdf: 1521945 bytes, checksum: 03651fc876d79971dbee50f15628802f (MD5) Previous issue date: 2012 | en |
dc.description.tableofcontents | 誌謝 I
摘要 III ABSTRACT IV CONTENTS V LIST OF FIGURES VII LIST OF TABLES IX LIST OF SYMBOLS X Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Literature Review 1 1.3 Thesis Organization 3 Chapter 2 Vehicle and Test Site 4 2.1 Vehicle System Architecture 4 2.2 Test Site 9 2.3 Test Site Preparation 13 Chapter 3 Navigation System 14 3.1 The Extended Kalman Filter Localization 14 3.1.1 The Kinematic Model 14 3.1.2 The Measurement Model 16 3.1.3 Observation 18 3.1.4 EKF Localization 20 3.2 Controller Design 25 3.3 Hue, Saturation, Value Color Space 29 Chapter 4 Experimental Results 31 4.1 Results of Estimated Forward and Angular Velocity 31 4.2 Depth Controller Results 38 4.3 Results of HSV Color Space 41 4.4 Observation Results 42 4.5 Results of EKF Localization 47 4.6 Results of Target Tracking 50 Chapter 5 Conclusions 56 REFERENCE 57 | |
dc.language.iso | en | |
dc.title | 仿生型自主式水下載具利用單眼視覺在已知環境中之導航研究 | zh_TW |
dc.title | Navigation of a Biomimetic Autonomous Underwater Vehicle by Using Monocular Vision in a Known Environment | en |
dc.type | Thesis | |
dc.date.schoolyear | 101-1 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 王傑智,林顯群,江茂雄 | |
dc.subject.keyword | 機器魚,水下導航,單眼視覺,延伸型卡曼濾波器,定位演算法, | zh_TW |
dc.subject.keyword | robotic fish,underwater navigation,monocular vision,extended Kalman filter,localization algorithm, | en |
dc.relation.page | 59 | |
dc.rights.note | 未授權 | |
dc.date.accepted | 2013-01-09 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 工程科學及海洋工程學研究所 | zh_TW |
顯示於系所單位: | 工程科學及海洋工程學系 |
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ntu-101-1.pdf 目前未授權公開取用 | 1.49 MB | Adobe PDF |
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