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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 康仕仲(Shih-Chung Kang) | |
dc.contributor.author | Wei-Han Hung | en |
dc.contributor.author | 洪偉瀚 | zh_TW |
dc.date.accessioned | 2021-06-14T16:57:00Z | - |
dc.date.available | 2008-08-06 | |
dc.date.copyright | 2008-08-06 | |
dc.date.issued | 2008 | |
dc.date.submitted | 2008-07-30 | |
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dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/40712 | - |
dc.description.abstract | 機器人應用於室內環境保全的發展為近年機器人產業一個重要的方向,現今保全機器人的開發著重於機器人本身的運動控制與導航,但保全機器人自主式執行保全巡邏任務及巡邏路徑規劃的相關研究仍缺乏,有效的巡邏路徑規劃方法可提高自主式機器人在保全實業中的輔助能力,減少人力的資源以及保全疏失可能帶來的財產損失。本研究的目的即在於發展保全機器人執行巡邏路徑規劃方法,提升保全機器人自主式有效執行保全任務的能力。
本研究針對保全機器人運用在室內環境發展數值化之巡邏模型與巡邏路徑規劃方法,依據巡邏區域的功能與幾何特性以及機器人性能,將整個巡邏區域切割成數個巡邏區,建立成圖模型,以巡邏區空缺時間為影響巡邏效益的主要因素,提供決策者巡邏路徑規劃的效能評估指標:平均單位時間巡邏疏失與平均巡邏品質,並發展出兩種巡邏路徑規劃方法,分別是最短路徑排列組合法以及局部時間最佳巡邏路徑重複規劃方法,前者可以規劃出有效的週期性巡邏路徑;後者則可以作長時間的有效巡邏路徑規劃。決策者可以自行定義巡邏模型並透過指標評估其巡邏決策之效益;使用研究中所發展的巡邏路徑規劃方法,機器人則可以自主式地有效執行巡邏任務。 本研究發展一個架構於Microsoft Robotics Developer Studio (MSRDS)上的保全機器人模擬器模組(Security Robot Simulator, 簡稱SRS),藉由繪圖和物理引擎的即時運算,模擬保全機器人執行相關任務時可能遇到的情境,決策者可以事先將已規劃的巡邏路徑在虛擬環境中作測試,確定其規劃是否能夠有效完成巡邏任務。 | zh_TW |
dc.description.abstract | Security robots have been developed for years. Previous robot developers mainly focus on motion control and navigation. However for high-leveled planning, which enables robot’s autonomous patrol, has yet to be well researched.
This research aims at developing a numerical modeling and planning methods for patrol paths of an in-door security robot. The patrol problem is modeled as a graph searching issue by segmenting the patrol area into several patrol regions. The vacant time of regions is one major factor associate with the patrol efficiency in the patrol model. According to the two indexes, “Average Patrol Omission” and “Average Patrol Quality,” provided by the patrol model, patrol decisions makers can verify their patrol strategy. Two patrol path planning methods,” Shortest Path Permutations Method” and “Locally Optimum Repetitious Method,” developed by the research are used to plan an effective routine patrol path and long-term patrol path in real time for autonomous security robots. A virtual reality system, named Security Robot Simulator, based on “Microsoft Robotics Developer Studio,” is then developed to simulate the security scenario and provide a test environment for the patrol plan. | en |
dc.description.provenance | Made available in DSpace on 2021-06-14T16:57:00Z (GMT). No. of bitstreams: 1 ntu-97-R95521603-1.pdf: 5362661 bytes, checksum: daac874d0bc766f3d768d17ddc8a6fdb (MD5) Previous issue date: 2008 | en |
dc.description.tableofcontents | 口試委員審定書 I
誌謝 III 中文摘要 V 英文摘要 VII 目 錄 IX 圖目錄 XIII 表目錄 XIX 第一章 導論 1 1.1 研究背景 1 1.2 研究動機 3 1.3 研究目標 4 1.4 論文章節架構 5 第二章 文獻回顧 7 2.1 保全機器人 7 2.2 機器人路徑規劃 11 2.3 機器人模擬軟體 15 第三章 保全機器人巡邏模型建立方法 19 3.1 巡邏模型的建立 19 3.2 巡邏區模型的建立方法 21 3.3 巡邏路徑規劃評估指標 28 3.4 總結 31 第四章 巡邏路徑規劃方法 33 4.1 最短路徑排列組合巡邏路徑規劃方法 33 4.2 局部時間最佳巡邏路徑重複規劃方法 38 4.3 結果與討論 44 第五章 保全機器人模擬器模組 51 5.1 機器人模擬平台 51 5.2 保全機器人模擬器模組開發環境與架構 52 5.3 總結 60 第六章 結論與未來工作 61 6.1 結論 61 6.2 研究貢獻 61 6.3 未來工作 62 參考文獻 65 | |
dc.language.iso | zh-TW | |
dc.title | 保全機器人巡邏路徑規劃方法 | zh_TW |
dc.title | Patrol Path Planning Method for Security Robot | en |
dc.type | Thesis | |
dc.date.schoolyear | 96-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 謝尚賢(Shang-Hsien Hsieh),李蔡彥(Tsai-Yen Li) | |
dc.subject.keyword | 巡邏路徑,保全機器人模擬器,巡邏模型,保全機器人,巡邏區, | zh_TW |
dc.subject.keyword | patrol path,security robot simulator,patrol model,patrol region,security robot, | en |
dc.relation.page | 69 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2008-07-30 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 土木工程學研究所 | zh_TW |
顯示於系所單位: | 土木工程學系 |
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