臺灣博碩士論文加值系統

行動感測點（Mobile Sensors，MSs）由感測元件掛載於可控制移動載具上所構成。數個MSs所構成之無線感測網路，我們稱行動感測網路（Mobile Sensor Networks，MSN）。近年研究利用MSs於未知環境探勘，已成廣受討論議題。地圖探勘應用必須依據MSs具一定精確定位能力。本文主在利用數個MSs，以無基礎式通訊網路架構（ad hoc networks）下，藉彼此間團隊合作，於未知環境內進行定位誤差修正，使定位誤差範圍可被限定在合理、可接受的臨界誤差內，並利用MSs建立探勘環境地理資訊，達到同時定位（Localization）及建圖（Mapping）的目的。

Mobile sensors （MSs）are movable platforms that equipped with sensors, and mobile sensor networks （MSNs） is composed of MSs. It’s a popular issue of sensor networks for MSs to explore an unknown environment. This paper addressed the problem that using many MSs to construct a map of unknown environment, this function is called “mapping”. We design an exploring algorithm with coordination between MSs for mapping and localization simultaneously in ad hoc sensor networks.

目 錄
指導教授推薦書
口試委員會審定書
授權書
簽署人須知
中文摘要
英文摘要
誌謝
第一章 簡介
1.1 研究動機.........................................................................................1
1.2 論文架構.........................................................................................2
第二章 研究背景及相關研究
2. 1研究背景..........................................................................................3
2. 2相關定位研究..................................................................................5
2. 2.1 基礎式架構環境定位...........................................................5
2. 2.2 無基礎式架構環境定位......................................................10
2. 3機器人地圖探勘研究....................................................................16
2. 3.1 Decomposition Map..............................................................16
2. 3.2 Topological Map………………………………….……...….23
2. 3.3 Grid Based Map……………………………………………..24
第三章 行動感測網路同時定位及建圖探勘演算法
第一節 MSN架構.................................................................................29
3.1階層式MSN……………………………………………………29
第二節 定位...........................................................................................33
3.2 .1定位誤差分析.....................................................................33
3.2 .2 MSs定位機制.....................................................................37
第三節 MSs團隊地圖探勘...................................................................41
3.3 .1 MSs團隊探勘架構.............................................................41
3.3 .2 Back and Forth Scan Phase（BFSP）....................................42
3.3 .3 Deployment Phase（DP）......................................................44
3.3 .4 Parallel Shift Phase（PSP）...................................................47
3.3 .5 Divide 2 Group Phase（D2GP）............................................49
3.3 .6 Divide 3 Group Phase（D3GP）............................................51
第四節 路徑規畫（Path Planning）.........................................................55
第四章 模擬分析
4.1 模擬參數..................................................................................57
4.2探勘時間與各室內地理環境複雜度關係................................57
參考文獻....................................................................................................68

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