請用此 Handle URI 來引用此文件：
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/40198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 | |
| dc.identifier.citation | [1] Robot. Available: http://en.wikipedia.org/wiki/Robot
[2] iRobot. Available: http://www.irobot.com/uk/home.aspx [3] 新光保全─新保3號. Available: http://www.sks.com.tw/index.php?option=com_content&view=article&id=328&Itemid=154 [4] Isaac Asimov. Available: http://en.wikipedia.org/wiki/Isaac_Asimov [5] J. Illingworth and A. Hilton, 'Looking to build a model world: automatic construction of static object models using computer vision,' Electronics & Communication Engineering Journal, vol. 10, pp. 103-113, 1998. [6] J. Borenstein and Y. Koren, 'High-speed obstacle avoidance for mobile robots,' in Intelligent Control, 1988. Proceedings., IEEE International Symposium on, 1988, pp. 382-384. [7] J. Borenstein and Y. Koren, 'The vector field histogram-fast obstacle avoidance for mobile robots,' Robotics and Automation, IEEE Transactions on, vol. 7, pp. 278-288, 1991. [8] C. Ya-Chun, et al., 'Novel application of a laser range finder with vision system for wheeled mobile robot,' in Advanced Intelligent Mechatronics, 2008. AIM 2008. IEEE/ASME International Conference on, 2008, pp. 280-285. [9] C. Yen-Sheng and J. Jih-Gau, 'Intelligent obstacle avoidance control strategy for wheeled mobile robot,' in ICCAS-SICE, 2009, 2009, pp. 3199-3204. [10] J. Yi, et al., 'Intelligent Robot Obstacle Avoidance System Based on Fuzzy Control,' in Information Science and Engineering (ICISE), 2009 1st International Conference on, 2009, pp. 3812-3815. [11] I. N. Da Silva, et al., 'Navigation of mobile robots using fuzzy logic controllers,' in Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on, 1998, pp. 346-349. [12] V. Ganapathy, et al., 'Fuzzy and Neural controllers for acute obstacle avoidance in mobile robot navigation,' in Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on, 2009, pp. 1236-1241. [13] A. Fatmi, 'A Fuzzy Logic Based Navigation of a Mobile Robot,' World Academy of Science, Engineering and Technology, p. 6, 2006. [14] Design and simulate fuzzy logic systems. Available: http://www.mathworks.com/products/fuzzylogic/ [15] 人工智慧與機器學習. Available: http://mmdays.wordpress.com/2007/05/03/ai./ [16] G. C. Anousaki and K. J. Kyriakopoulos, 'Simultaneous localization and map building for mobile robot navigation,' Robotics & Automation Magazine, IEEE, vol. 6, pp. 42-53, 1999. [17] W. Bingfeng, et al., 'Mobile Robot Map Building Based on Grid Arrangement,' in Artificial Intelligence and Computational Intelligence, 2009. AICI '09. International Conference on, 2009, pp. 288-291. [18] K. Heon-Hui, et al., 'A study on the environmental map building for a mobile robot using infrared range-finder sensors,' in Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on, 2003, pp. 711-716 vol.1. [19] L. Yu-Cheol, et al., 'Human-Robot Interactive Guiding System's Application in Sonar Quick Mapping,' in Robot and Human interactive Communication, 2007. RO-MAN 2007. The 16th IEEE International Symposium on, 2007, pp. 194-199. [20] J. Songmin, et al., 'Mobile robot localization and mapping based on mixed model,' in Advanced Computer Theory and Engineering (ICACTE), 2010 3rd International Conference on, 2010, pp. V5-9-V5-14. [21] J. Borenstein and Y. Koren, 'Real-time obstacle avoidance for fact mobile robots,' Systems, Man and Cybernetics, IEEE Transactions on, vol. 19, pp. 1179-1187, 1989. [22] J. Borenstein and Y. Koren, 'Histogramic in-motion mapping for mobile robot obstacle avoidance,' Robotics and Automation, IEEE Transactions on, vol. 7, pp. 535-539, 1991. [23] J. N. K. Liu and W. Meng, 'Fuzzy Logic based Active Map Learning for Autonomous Robot,' in Fuzzy Systems, 2006 IEEE International Conference on, 2006, pp. 2134-2141. [24] K. Soo-Hyun, et al., 'Autonomous SLAM technique by integrating Grid and Topology map,' in Smart Manufacturing Application, 2008. ICSMA 2008. International Conference on, 2008, pp. 413-418. [25] Volvo City Safety. Available: http://auto.msn.com.tw/news_content.aspx?sn=0803310005 [26] Pre-crash雷達碰撞預防系統. Available: http://www.toyota.com.tw/upload/car/20071130003057905236656.pdf [27] Distance Control Assist車距控制輔助系統. Available: http://news.u-car.com.tw/news-detail.asp?nid=6821 [28] HONDA─智慧型駕駛輔助系統. Available: http://www.auto-online.com.tw/news/78-6564?f=125 [29] 財團法人車輛研究測試中心-前方碰撞預防系統. Available: http://www.artc.org.tw/chinese/02_research/02_01detail.aspx?pdid=32 [30] Quick Manual for LMS communication setup. Available: http://www.pages.drexel.edu/~kws23/tutorials/sick/LMS_Quick_Manual_V1_1.pdf [31] Sharp. GP2Y0A710K0F datasheet. Available: http://www.sharpsma.com/webfm_send/1490 [32] 鄭智中, '具避障功能之可傾式雙輪平台設計與實現,' 碩士論文, 機械工程學系, 國立台灣大學, 台北, 2010. [33] 溫詠仁, '輪型機器人智慧化跟隨與召喚之設計與實現,' 碩士論文, 機械工程學系, 國立台灣大學, 台北, 2011. [34] I. R. N. Roland Siegwart, 'Introduction to Autonomous Mobile Robots,' 2004. [35] 高速公路及快速公路交通管制規則. Available: http://www.freeway.gov.tw/Publish.aspx?cnid=526&p=134 [36] P. Lester. A* Pathfinding for Beginners. Available: http://www.policyalmanac.org/games/aStarTutorial.htm | |
| 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.subject | 路徑規劃 | zh_TW |
| dc.subject | 機器人 | zh_TW |
| dc.subject | 避障 | zh_TW |
| dc.subject | 場景建立 | zh_TW |
| dc.subject | 距離感測器 | zh_TW |
| dc.subject | Robot | en |
| dc.subject | Path Planning | en |
| dc.subject | Distance Measurement Sensor | en |
| dc.subject | Map Building | en |
| dc.subject | Obstacle Avoidance | en |
| 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 | |
文件中的檔案：
| 檔案 | 大小 | 格式 | |
|---|---|---|---|
| ntu-100-1.pdf 未授權公開取用 | 5.71 MB | Adobe PDF |
系統中的文件，除了特別指名其著作權條款之外，均受到著作權保護，並且保留所有的權利。