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研究生:洪凱駿
研究生(外文):Kai-Chun Hong
論文名稱:以超音波感測器為基礎之自主式探測系統
論文名稱(外文):Autonomous Exploring System Based on Ultrasonic Sensory Information
指導教授:黃國勝黃國勝引用關係
指導教授(外文):Kao-Shing Hwang
學位類別:碩士
校院名稱:國立中正大學
系所名稱:電機工程研究所
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:1999
畢業學年度:87
語文別:英文
論文頁數:65
中文關鍵詞:自主式探測系統超音波感測器虛擬地圖安全區域電子地圖建構
外文關鍵詞:autonomous exploring systemultrasonic sensorvirtual mapsafe zoneelectric map construction
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針對整體環境的偵測及全域地圖的建立,本論文提出了一個系統性且有效率的解決方案。受限於感測器特性,若針對單一觀測點,只有部分環境特徵能被辨識出來。為建立全域的環境模型,必須將不同觀測點所獲得的資訊加以整理合併,但這些資訊可能有些會彼此重複。如何選擇這些觀測點,避免過多重複的資訊,將能提昇全域地圖建立的效率。虛擬地圖的建構是本文中提出的一個重要方法。藉由目前已知的資訊,建構出可能存在的環境模型,並用以判斷選擇觀測點,驗證虛擬地圖的正確性並加速全域地圖的建立。
An autonomous exploring system that consists of a low cost dual-ultrasonic sensor module and a novel approach for building a map of the environment is presented in this thesis. Instead of exploring an environment randomly, the proposed approach provides a systematical, safe, and efficient strategy to construct the map of the environment by means of exploring merely the preferential points. In this approach, a mobile robot constructs the virtual map by means of a line segment method, some partially known environmental information, and two assumptions. Besides, the concept of safe zones is also introduced in the system to keep the mobile robot safe. Based on the virtual map, a searching method is used to select a location which belongs to safe zones for the mobile robot to go forward. Simulations and experiments are given to demonstrate the performance of this proposed approach.
CHINESE ABSTRACTi
ENGLISH ABSTRACTii
CONTENTSiii
LIST OF FIGURESv
LIST OF TABLESvii
CHAPTER 1 INTRODUCTION1
CHPATER 2 FAST MAP BUILDING METHOD4
2.1 Overview of the Fast Map Building Method4
2.2 Local Map Construction6
2.2.1 The Line Segment Method and Data Structure Design6
2.2.2 Sensory Data Integration8
2.2.3 Local Map Construction10
2.3 Safe Zone13
2.4 Global Map Update13
2.5 Virtual Map Construction15
2.6 Searching Method19
CHAPTER 3 DUAL-ULTRASONIC SENSOR MODULE22
3.1 Characteristics and Limitations of Ultrasonic Wave and Polaroid Ultrasonic Ranging Module22
3.2 Dual-Ultrasonic Sensor Module Design24
3.2.1 The Stepper Motor Control Card25
3.2.2 The Ultrasonic Ranging Module Control Card25
CHAPTER 4 SIMULATIONS AND EXPERIMENTS29
4.1 Parameters Determination29
4.2 Simulations30
4.3 Experiments40
4.4 Discussions59
CHAPTER 5 CONCLUSIONS AND FUTURE WORKS62
5.1 Conclusions62
5.2 Future Works63
REFERENCE64
[1] J. Gonzalez, A. Ollero and A. Reina, "Map building for a mobile robot equipped with a 2D laser rangefinder," in Proc. IEEE Int. Conf. Robot. Automat., 1994, pp. 1904-1909.
[2] K. T. Song and C. C. Chang, "Ultrasonic sensor data fusion for environment recognition," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 1993, pp. 384-390.
[3] K. T. Song and W. H. Tang, "Environment perception for a mobile robot using double ultrasonic sensors and a CCD camera," IEEE Trans. Industrial Electronics, Vol. 43, No. 3, June 1996.
[4] S. P. Hsu, "Sensor fusion, path recognition, and navigation techniques on autonomous robotic system," Master thesis, National Chung Cheng University, Taiwan, 1996.
[5] B. Harrison, "Navigation using a Sharp IR detector module," The Robotics Practitioner, Vol. 2, No. 1, winter 1996.
[6] Y. Nagashima and S. Yuta, "Ultrasonic sensing for a mobile robot to recognize an environment. -measuring the normal direction of walls," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 1992, pp. 805-812.
[7] T. Tsubouchi, "Nowdays trends in map generation for mobile robots," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., 1996, pp. 828-833.
[8] J. Iijima, S. Asaka and S. Yuta, "Searching unknown environment by a mobile robot using range sensor,, in Proc. IEEE/RSJ Int. Workshop Intell. Robots Syst., 1989, pp.46-53.
[9] A. Ohya, Y. Nagashima and S. Yuta, "Exploring unknown environment and map construction using ultrasonic sensing of normal direction of walls," in Proc. IEEE Int. Conf. Robot. Automat., 1994, pp. 485-492.
[10] B. Yamauchi, A. Schultz and W. Adams, "Mobile robot exploration and map building with continuous localization," in Proc. IEEE Int. Conf. Robot. Automat., 1998, pp. 3715-3720.
[11] H. W. When and P. R. Belanger, "Ultrasound-based robot position estimation," IEEE Trans. Robot. Automat., vol. 13, No. 5, Oct. 1997.
[12] J. Borenstein and Y. Koren, "Noise rejection for ultrasonic sensors in mobile robot applications," in Proc. IEEE Int. Conf. Robot. Automat., 1992, pp. 1727-1732.
[13] S. Ciarcia, "An ultrasonic ranging system," BYTE, Oct. 1984, pp. 113-123.
[14] Polaroid Corp., Ultrasonic Ranging System- Polaroid Corp., Norwood, MA USA, 1990.
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