by Wong Hon-chuen. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1999. / Includes bibliographical references (leaves 83-87). / Abstracts in English and Chinese. / Acknowledgements --- p.i / List of Figures --- p.v / List of Table --- p.viii / Abstract --- p.ix / Contents / Chapter 1 --- Introduction --- p.1 / Chapter 2 --- Algorithm Outline --- p.7 / Chapter 2.1 --- Assumptions --- p.7 / Chapter 2.2 --- Algorithm Outline --- p.8 / Chapter 3 --- Obstacle Detection --- p.11 / Chapter 3.1 --- Introduction --- p.11 / Chapter 3.2 --- Image Processing --- p.14 / Chapter 3.3 --- Coordinate Transformation --- p.14 / Chapter 3.4 --- Example --- p.20 / Chapter 4 --- Real-time Construction of Configuration Space --- p.22 / Chapter 4.1 --- Introduction --- p.22 / Chapter 4.2 --- Configuration Space --- p.23 / Chapter 4.3 --- Type-A Contact --- p.26 / Chapter 4.4 --- Type-B Contact --- p.27 / Chapter 4.5 --- Inverse Mapping Method --- p.29 / Chapter 4.6 --- Simulation --- p.31 / Chapter 5 --- Motion Planning and Re-Construction of C-space --- p.34 / Chapter 5.1 --- Introduction --- p.34 / Chapter 5.2 --- Path Planning --- p.36 / Chapter 5.3 --- Update of C-space --- p.41 / Chapter 5.4 --- Re-planning of Robot Path --- p.44 / Chapter 6 --- Implementation and Experiments --- p.55 / Chapter 6.1 --- Introduction --- p.55 / Chapter 6.2 --- Architecture of the Mobile Robot System --- p.55 / Chapter 6.3 --- Algorithm Implementation --- p.56 / Chapter 6.4 --- Experiment --- p.58 / Chapter 6.4.1 --- Experiment on a Fixed Unknown Environment --- p.58 / Chapter 6.4.2 --- Experiment on a Dynamic Unknown Environment --- p.70 / Chapter 7 --- Conclusions --- p.81 / References --- p.83
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_322753 |
| Date | January 1999 |
| Contributors | Wong, Hon-chuen., Chinese University of Hong Kong Graduate School. Division of Mechanical and Automation Engineering. |
| Source Sets | The Chinese University of Hong Kong |
| Language | English, Chinese |
| Detected Language | English |
| Type | Text, bibliography |
| Format | print, xi, 87 leaves : ill. ; 30 cm. |
| Rights | Use of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/) |
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