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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/9474完整後設資料紀錄
| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 連豊力(Feng-Li Lian) | |
| dc.contributor.author | Chih-Chung Chou | en |
| dc.contributor.author | 周執中 | zh_TW |
| dc.date.accessioned | 2021-05-20T20:24:19Z | - |
| dc.date.available | 2009-01-20 | |
| dc.date.available | 2021-05-20T20:24:19Z | - |
| dc.date.copyright | 2009-01-20 | |
| dc.date.issued | 2009 | |
| dc.date.submitted | 2009-01-05 | |
| dc.identifier.citation | Papers:
[1: Borenstein & Koren 1990] J. Borenstein and Y. Koren, “Real-time obstacle avoidance for fast mobile robots in cluttered environments,” Proceedings of IEEE International Conference on Robotics and Automation, Volume 1, pp.572-577, Cincinnati, Ohio, May 1990. [2: Borenstein & Koren 1991] J. Borenstein and Y. Koren, “The vector field histogram - fast obstacle avoidance for mobile robots,” IEEE Transactions on Robotics and Automation, Volume 7, Issue 3, pp.278-288, June 1991. [3: Simmons 1996] R. Simmons, “The curvature-velocity method for local obstacle avoidance,” Proceedings of IEEE International Conference on Robotics and Automation, pp.3375-3382, Minneapolis, Minnesota, Apr. 1996. [4: Fox et al. 1997] D. Fox ,W. Burgard and S. Thrun, “The dynamic window approach to collision avoidance,” IEEE Robotics & Automation Magazine, Volume 4, Issue 1, pp. 23-33, Mar. 1997. [5: Fox et al. 1998] D. Fox, W. Burgard and S. Thrun, “A hybrid collision avoidance method for mobile robots,” Proceedings of IEEE International Conference on Robotics and Automation, pp. 1238-1243, Leuven, Belgium, May 1998. [6: Brock & Khatib 1999] O. Brock and O. Khatib, “High-speed navigation using the global dynamic window approach,” Proceedings of IEEE International Conference on Robotics and Automation, Volume 1, pp. 341-346, Detroit, Michigan, May 1999. [7: Ulrich & Borenstein 1998] I. Ulrich and J. Borenstein, 'VFH+: Reliable Obstacle Avoidance for Fast Mobile Robots.' Proceedings of IEEE International Conference on Robotics and Automation, pp. 1572-1577, Leuven, Belgium, May 1998. [8: Ulrich & Borenstein 2000] I. Ulrich and J. Borenstein, 'VFH*: Local Obstacle Avoidance with Look-Ahead Verification.' Proceedings of IEEE International Conference on Robotics and Automation, pp.2505-2511, San Francisco, California, Apr. 2000. [9: Minguez & Montano 2004] J. Minguez and L. Montano, “Nearness diagram (ND) navigation: collision avoidance in troublesome scenarios,” IEEE Transactions on Robotics & Automation, Volume 20, Issue 1, pp.45-59, Feb. 2004. [10: Seder et al. 2005] M. Seder, K, Macek and I. Petrovi´c, “An integrated approach to real-time mobile robot control in partially known indoor environment,” Proceedings of IEEE International Conference on Industrial Electronics, pp. 1785-1790, 2005. [11: Seder & Petrovi´c 2007] M. Seder and I. Petrovi´c, “Dynamic window based approach to mobile robot motion control in the presence of moving obstacles,” Proceedings of IEEE International Conference on Robotics and Automation, pp1986-1981, Roma, Italy, Apr. 2007 [12: Li et al. 2006] G. Li, G. Wu and W. Wei, “ND-DWA: A Reactive Method for Collision Avoidance in Troublesome Scenarios,” Proceedings of the Sixth World Congress on Intelligent Control and Automation, Volume 2, pp.9307-9311, June. 2006 [13: Stentz 1994] A. Stentz, “Optimal and efficient path planning for partially-known environments,” Proceedings of IEEE International Conference on Robotics and Automation, San Diego, California, May 1994 Books: [14: Russell & Norvig 2003] Stuart Russell and Peter Norvig, “Artificial intelligence: A modern approach,” Prentice hall, 2003 [15: Choset et al. 2005] Howie Choset, Kevin M. Lynch, Seth Hutchinson, George Kantor, Wolfram Burgard, Lydia E. Kavraki, and Sebastian Thrun, “Principles of robot motion,” The MIT Press, 2005 | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/9474 | - |
| dc.description.abstract | 為完成行動式機器人的自動導航，基於動態窗格演算法(DWA)，這篇論文提出一名為DWA*之反應式演算法來達成高速、平順、且不受局部極小值問題影響的導航。原始的DWA方法只利用了少部份之環境資訊來在機器人的運動空間中搜尋適當之指令，因此，機器人易於走進局部極小值地區而無法脫出此複雜的環境.為能避開局部極小值地區，DWA*運用了區域分析技術來過濾不適當的動作指令，並使用A*搜尋演算法進行預測式驗證，藉此決定一組最佳動作指令，其可引導機器人於數步之後得到最佳的結果。最後，這篇論文分別展示了使用聲納測距器及使用雷射測距器的機器人之模擬與實驗結果，由此可顯出DWA*比起原始的DWA有著更為優越的表現。 | zh_TW |
| dc.description.abstract | Based on the dynamic window approach (DWA) for robot navigation, this thesis presents a local reactive method, called DWA*, for mobile robots to achieve high-speed, smooth, and local-minima-free navigation. The original DWA utilizes only a small part of environmental information to search for a proper motion command in the robot’s motion space. Hence, the robot can be easily driven into local-minima area and trapped in complex environment. In order to escape from the local-minima area, DWA* applies region analysis technique to filter improper commands, and uses the A* search algorithm with the look-ahead verification to determine the optimal command which can lead the robot to the best consequence after a designated number of steps. In this thesis, extensive simulation and experimental studies using sonar-based or laser-based mobile robot are presented to illustrate the excellent performance of using the DWA* compared with that of using the original DWA. | en |
| dc.description.provenance | Made available in DSpace on 2021-05-20T20:24:19Z (GMT). No. of bitstreams: 1 ntu-98-R95921129-1.pdf: 1039134 bytes, checksum: 1c4753ff6fff0d5aabbe5dbe5ebfdde5 (MD5) Previous issue date: 2009 | en |
| dc.description.tableofcontents | 摘要 I
ABSTRACT II CONTENTS IV LIST OF FIGURES VI CHAPTER 1 1 INTRODUCTION 1 1.1 Motivation 1 1.2 Problem Formulation 2 1.3 Contribution of the Thesis 3 1.4 Organization of the Thesis 4 CHAPTER 2 5 RELATED WORKS 5 2.1 Development of Global Path Planning Methods 5 2.2 Development of Local Reactive Methods 7 2.3 Hybrid Methods 9 2.4 Search Problem Formulation 10 CHAPTER 3 18 DYNAMIC WINDOW APPROACH 18 3.1 Procedure of DWA 18 CHAPTER 4 22 MODIFIED ALGORITHM DWA* 22 4.1 Procedure of DWA* 22 4.2 Interval Analysis 24 4.3 Region Detection 26 4.4 Set of Situations 29 4.5 In-Region DWA 31 4.6 Look-Ahead Verification 33 4.7 Implementation on Laser-Based Mobile Robots 35 4.8 Implementation on Sonar-Based Mobile Robots 36 CHAPTER 5 40 SIMULATION RESULTS 40 5.1 Simulation Platform 40 5.2 Simulation Results for Laser-Based Robot 41 5.3 Simulation Results for Sonar-Based Robot 50 CHAPTER 6 56 EXPERIMENTAL RESULTS 56 6.1 Experimental Results for Laser-Based Robot 56 6.2 Experimental Results for Sonar-Based Robot 62 CHAPTER 7 67 DISCUSSION 67 APPENDIX 70 A.1 A* Optimality 70 A.2 Door Detection 71 REFERENCES 73 | |
| dc.language.iso | en | |
| dc.title | DWA*: 基於速度空間方法與預測式驗證之室內機器人導航演算法 | zh_TW |
| dc.title | DWA*: Velocity Space Approach with Look-Ahead Verification for Indoor Robot Navigation | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 97-1 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 李蔡彥(Tsai-Yen Li),王傑智(Chieh-Chih Wang) | |
| dc.subject.keyword | 動態窗格演算法,局部反應式演算法,速度空間方法,預測式驗證, | zh_TW |
| dc.subject.keyword | Dynamic window approach,local reactive method,velocity space approach,look-ahead verification, | en |
| dc.relation.page | 75 | |
| dc.rights.note | 同意授權(全球公開) | |
| dc.date.accepted | 2009-01-05 | |
| dc.contributor.author-college | 電機資訊學院 | zh_TW |
| dc.contributor.author-dept | 電機工程學研究所 | zh_TW |
| 顯示於系所單位： | 電機工程學系 | |
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