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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 林沛群 | |
dc.contributor.author | Chia-Hung Tsai | en |
dc.contributor.author | 蔡佳宏 | zh_TW |
dc.date.accessioned | 2021-06-14T16:42:31Z | - |
dc.date.available | 2016-08-18 | |
dc.date.copyright | 2011-08-18 | |
dc.date.issued | 2011 | |
dc.date.submitted | 2011-08-13 | |
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dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/40198 | - |
dc.description.abstract | 本篇論文主要利用各種不同的距離感測器來偵測輪型機器人周遭的環境,並針對感測器的特性來開發機器人的各種基礎功能。透過超音波距離感測器陣列,開發避障演算法,當機器人遇到障礙物時,能尋找可通行的方向且安全避開障礙物,並與紅外線遙控收發模組結合,完成跟隨的功能。利用紅外線距離感測器來偵測環境場景,將環境樣貌顯示在格子狀地圖上。並由紅外線距離感測器建立的環境地圖中,透過A*搜尋演算法規劃機器人的最短路線,讓機器人在實際的環境中依據規劃的路徑到達目的地。而對於高速行駛情況下,使用雷射測距儀來偵測駕駛者前方的環境狀況,分析在不同的速度下,雷射測距儀對障礙物的判斷情形。 | zh_TW |
dc.description.abstract | In this thesis, we use different distance measurement sensors to detect the environment around the mobile robot and develop basic features of robots according to the characteristics of sensors. We develop the obstacle avoidance algorithm by ultrasonic sensor array. When the robot detects the obstacle, it can find the forward direction that could pass and safely avoid the barrier. And we finish the target following by combining the algorithm with infrared transducer module. We display the environment scene on the grid map using the infrared distance measurement sensor array to detect the surrounding. In addition, we plan a shortest path in a known environment by the A* search algorithm and let the robot arrive the destination in the real world according to the path that we plan. In the high speed conditions, we use the laser range finder to detect the environment, and we analysis the measurement information from the laser range finder in different speeds. | en |
dc.description.provenance | Made available in DSpace on 2021-06-14T16:42:31Z (GMT). No. of bitstreams: 1 ntu-100-R98522815-1.pdf: 5849070 bytes, checksum: dd132509205a46949e2d79c0cc3108d4 (MD5) Previous issue date: 2011 | en |
dc.description.tableofcontents | 誌謝 I
摘要 II Abstract III 目錄 IV 圖目錄 VI 表目錄 IX 第一章 緒論 1 1.1前言 1 1.2研究動機 2 1.3文獻回顧 4 1.4貢獻 9 1.5論文架構 10 第二章 實驗機台介紹 11 2.1車體架構 12 2.2距離感測器模組 15 2.3機電整合 23 第三章 避障演算法 30 3.1感測器選用 30 3.2障礙物偵測及可通行方向之判斷 31 3.3基於避障演算法之智慧化功能應用 34 3.4實驗結果 47 3.5小結 59 第四章 前方安全警示系統設計與測試 60 4.1感測器之選用 60 4.2實驗平台架構 60 4.3高速下雷射測距儀之量測結果 62 4.4前方安全警示系統之設計 64 4.5高速動態之檢測 65 4.6小結 68 第五章 場景建立 69 5.1感測器選用 69 5.2場景建立演算法 70 5.3路徑規劃 73 5.4實驗結果 77 5.5小結 84 第六章 結論與未來展望 86 6.1結論 86 6.2未來展望 86 參考文獻 88 附錄一 91 雷射測距儀(LMS-291S05)輸入命令 91 | |
dc.language.iso | zh-TW | |
dc.title | 距離感測器於輪型機器人之應用 | zh_TW |
dc.title | Applications of Distance Sensors on a Wheeled Mobile Robot | en |
dc.type | Thesis | |
dc.date.schoolyear | 99-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 黃光裕,鄭榮和 | |
dc.subject.keyword | 機器人,避障,場景建立,距離感測器,路徑規劃, | zh_TW |
dc.subject.keyword | Robot,Obstacle Avoidance,Map Building,Distance Measurement Sensor,Path Planning, | en |
dc.relation.page | 92 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2011-08-14 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
顯示於系所單位: | 機械工程學系 |
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