碩士 / 國立成功大學 / 電機工程學系碩博士班 / 90 / In this thesis, we propose an effective obstacle detection and avoidance approach for navigating an autonomous vehicle in an indoor environment, where the internet-based remote control ability is also developed. The whole system not only guides the vehicle automatically but also gets the security information by JAVA techniques. The DSP chip and FPGA chip mounted on the robot will be responsible for the image processing and motion control. Firstly, the structure of vehicle will be introduced, including of image processing system, sensor module, and the hardware architecture of the robot. Secondly, for automatic guidance, we should detect baseline of the obstacle and the objects that appear in front of the vehicle navigation in the corridor. Besides, we develop a path-planning based on the natural landmark—the lamp of the corridor. A fuzzy controller is designed to perform the lamp-tracking task in order to make the vehicle to follow this path. The remote control system developed in the networked vehicle including JAVA techniques, communication interface design and remote transmission latency will be described in detail. Finally, both simulations and the practical experiments demonstrate the feasibility and effectiveness of the proposed schemes
| Identifer | oai:union.ndltd.org:TW/090NCKU5442095 |
| Date | January 2002 |
| Creators | Bao-Xian Tsai, 蔡寶賢 |
| Contributors | Tzuu-Hseng S. Li, 李祖聖 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | en_US |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 80 |
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