臺灣博碩士論文加值系統

本研究提出一種能遠端呼叫自動導航車(ALV)的架構。首先，呼叫端經由無線網路傳送目的地之GPS訊息予ALV，藉由已知的地圖資訊，以迪杰斯特拉演算法進行路徑規劃。行進中所需要的路面資訊，使用AdaBoost演算法來進行路面辨識，對不同的路面種類進行訓練和分類，可找到可行進的路面區域。藉著路面辨識的結果，ALV可決定一個行進方向。由路徑的資訊取得目標子節點的位置以及自動車目前位置的差異，可找到該行進的絕對方向，而與電子羅盤偵測到的車輛行進方向比較，可找到車輛該偏轉的方向。而往目標前進時，以繞道閃避的方式避開AdaBoost找出的非路與立體障礙物。藉由此流程，自動車可到達呼叫端的位置。

This research proposes a technique of calling an ALV remotely. Firstly, the calling side sends the GPS information of the target to the ALV through wireless network, then path planning is completed by prepared map data with Dijkstra algorithm. AdaBoost algorithm is introduced for implementing road detection; different types of classifiers are trained to detect different road surfaces. With the result of road detection, the ALV is able to find the drivable region eliminating the obstacles and not-road region. By determining the difference with the position of the ALV and current sub-goal on the planned path, the forward direction to the sub-goal is decided; with comparing it to the driving direction detect by digital compass, the direction of deflection can be decided. When ALV drives to the sub-goal, obstacles and not-road region is avoided by surpass. In conclusion, ALV can reach the calling side.

ABSTRACT IN CHINESE i
ABSTRACT IN ENGLISH ii
ACKNOWLEDGMENTS iii
TABLE OF CONTENTS iv
LIST OF TABLES vi
LIST OF FIGURES vii
CHAPTER 1 INTRODUCTION 1
1.1 Research Motivation 1
1.2 Survey of Related Research 2
1.2.1 Road Detection 2
1.2.2 Autonomous Vehicle Guidance Methods 2
1.2.3 Wireless Control 2
1.3 Overview of Proposed Approaches 3
1.4 Thesis Organization 6
CHAPTER 2 ALV HARDWARE ARCHITECTURE 7
2.1 Overview of ALV 7
2.2 Camera and GPS Receiver 8
CHAPTER 3 ROAD DETECTION ON ADABOOST ALGORITHM 9
3.1 AdaBoost Algorithm 9
3.2 Weak Classifiers 12
3.2.1 Hue 12
3.2.2 Saturation 13
3.2.3 Entropy 14
3.2.4 Moments 15
3.2.5 Smoothness 16
3.3 Final Strong Classifier 18
CHAPTER 4 NAVIGATION STRATEGY 20
4.1 Wireless Remote Calling 20
4.2 Path Planning 22
CHAPTER 5 DECISION OF DRIVING DIRECTION 27
CHAPTER 6 EXPERIMENTAL RESULTS 30
6.1 Results of Road Detection 30
6.2 Decision of Driving Direction 43
CHAPTER 7 CONCLUSION AND FURTHER RESEARCH 45
7.1 Conclusion 45
7.1.1 Road Detection 45
7.1.2 ALV Navigation 45
7.2 Further Research 46
REFERENCES 47
APPENDIX 49
APPENDIX A.1 Proof of Equation 4.2 50

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[13]OpenCV: http://www.opencv.org.cn/
[14]RGB to HSV: http://www.shervinemami.co.cc/colorConversion.html
[15]Calculation of GPS: http://en.wikipedia.org/wiki/Great-circle_distance
[16]Calculation of GPS: http://en.wikipedia.org/wiki/Haversine_formula