碩士 / 國立臺灣大學 / 電機工程學研究所 / 92 / The goal of this research is to develop a stereovision guided autonomous navigation system and apply it to the mobile robot control. The autonomous navigation system is composed of a binocular stereovision sub-system, a motion planning sub-system, and a motion control sub-system. The binocular stereovision mimics human visual perception to obtain the 3D information about the environment. The area-based stereo matching algorithm is used to construct the disparity image. The disparity image is then transformed to obtain the 3D information. Since constructing a full frame of the disparity image is time consuming, only the image edges are extracted for constructing the sparse disparity image and the 3D information. The motion planning sub-system plans a local path by according to the local 3D information obtained by a snap shoot of the stereovision sub-system. The potential field algorithm is used to build an artificial potential field for the motion planning. The attractive filed is modeled to emit an attractive force from the goal configuration to the robot. The repulsive field is modeled to emit a repulsive force from the obstacles. The potential field is the sum of the attractive and repulsive field, and the valley shows a desired path. Four motion strategies are designed to deal with the situations of the local minimum traps and other unfavorable conditions. Adaptive Neuro-Fuzzy Inference System (ANFIS) is adopted as the base of the motion control sub-system. The controller allows installing fuzzy rule base obtained by according to expert’s experience, and adapting the parameters through an on-line learning process. This excellent ability makes it suitable control the complex nonlinear behavior of the mobile robot. An experimental system of autonomous mobile robot has been built and several experiments for verifying the proposed designs have been conducted. Experimental results show that the stereovision based autonomous navigation system is feasible and successful.
| Identifer | oai:union.ndltd.org:TW/092NTU05442071 |
| Creators | Ming-Kang Chuang, 莊銘罡 |
| Contributors | Wei-Song Lin, 林巍聳 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | en_US |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 88 |
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