碩士 / 國立交通大學 / 電機與控制工程系所 / 92 / Navigation strategy and control system are important for autonomous mobile robots. In recent years, navigation problem for robot has been an interesting research area. The focus of this thesis is on the development of navigation strategy and control system of a cleaning robot based on infrared sensors. This thesis presents a method of path planning and control of a cleaning robot. An infrared sensor system has been designed and constructed for navigation experiments. When the robot executes back and forth cleaning task for a complete coverage path, the infrared sensors can help robot align the wall that can help robot stay in the designed path. Besides, we setup a landmark which has two- direction infrared signals. Each of them will have different digital code to facilitate robot memorize the cleaned area. Thus the robot can complete the cleaning task efficiently.
| Identifer | oai:union.ndltd.org:TW/092NCTU5591098 |
| Date | January 2004 |
| Creators | Chih-Hao Chen, 陳志豪 |
| Contributors | Kai-Tai Song, 宋開泰 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 58 |
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