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研究生:羅世同
研究生(外文):LO, SHIH-TONG
論文名稱:基於邊界岬角搜尋方法的光達式自主探索與地圖建置技術及其坍塌搜救機器人應用
論文名稱(外文):LiDAR Autonomous Exploration and Map Building Based on Frontier Cape Search and Its Urban Search and Rescue Robot Application
指導教授:何前程
指導教授(外文):HO, CHIAN-CHENG
口試委員:何前程蘇國嵐陳國益郭鐘榮賴俊吉
口試委員(外文):HO, CHIAN-CHENGSU, KUO-LANCHEN, KUO-YIKUO, CHUNG-JUNGLAY, JIUNN-JYI
口試日期:2019-06-27
學位類別:碩士
校院名稱:國立雲林科技大學
系所名稱:電機工程系
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:2019
畢業學年度:107
語文別:中文
論文頁數:57
中文關鍵詞:光達式同步定位與建圖自主探索地圖建置邊界搜尋路徑導航
外文關鍵詞:LiDAR Simultaneous Localization and Mappingautonomous explorationmap buildingfrontier searchpath planning
相關次數:
  • 被引用被引用:0
  • 點閱點閱:143
  • 評分評分:
  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:1
摘要 i
ABSTRACT ii
目錄 iii
表目錄 v
圖目錄 vi
第一章 緒論 1
1.1研究背景 1
1.2研究動機與目的 3
1.3論文架構 4
第二章 傳統光達式未知環境自主探索方法 5
2.1光達式自主探索方法流程與相關研究 5
2.2傳統光達式自主探索方法介紹 8
2.2.1基於有限狀態機法 9
2.2.2 基於快速探索隨機樹法 10
2.2.3基於邊界搜尋法 11
2.3 傳統未知環境自主探索方法分析 12
第三章 基於邊界岬角搜尋方法的光達式自主探索與地圖建置技術 13
3.1 定位估測 14
3.1.1 粒子濾波器 14
3.1.2 馬達編碼器 15
3.2 地圖建構 16
3.3邊界目標定位 17
3.3.1 邊界判定 17
3.3.2 目標判定 18
3.3.3 邊界及目標侷限 19
3.3.4 邊界排除名單儲存單元 20
3.4路徑規劃 20
3.4.1 全域路徑規劃 20
3.4.2 局域避障路徑規劃 21
3.5小結 22
第四章 實驗分析 23
4.1 實驗平台 23
4.2 實驗架構 24
4.3 實驗結果 25
4.4 實驗結果分析 31
第五章 未知區域自主探索坍塌搜救機器人實作 32
5.1 創作主題 32
5.1.1創作主題 32
5.1.2實用功能描述 32
5.2 創意構想 33
5.2.1 創新動機與目的 33
5.2.2 特殊功能描述 34
5.3系統架構 39
5.3.1 軟硬體需求分析 39
5.3.2 系統功能流程圖 42
第六章 結論與未來展望 44
參考文獻 45

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