碩士 / 國立中央大學 / 資訊工程研究所 / 96 / The robotic navigation system is one of the most important and fundamental components of the successful robots. A navigation system of a robot is the key to the excellent motion of the robot. In this thesis, a navigation system for autonomous mobile robot is proposed. Our navigation system is a hybrid of behavior-based and model-based navigation systems. In our system, behavior-based subsystem is in charge of low-level reactive actions, and model-based subsystem is responsible for high-level planned actions. Besides, our system can communicate with wireless sensor network and utilize the localization technology of wireless sensor network to calibrate the estimated position of the robot. When the robot is going to leave for a destination, our system will utilize model-based subsystem to compute a path from the robot to the destination. Then, it divides this path into many virtual points, and the behavior-based subsystem is going to approach each virtual point in turn. If there are some obstacles in the way, the navigation system will use our obstacle avoidance algorithm to avoid these obstacles and keep the robot toward the destination. Therefore, our robot will arrive at the destination correctly. Furthermore, we use multi-thread technology to establish our navigation system. Thus, our system can run important modules concurrently and can utilize the multi-core processor more efficiently. Based on our experimental results, our navigation system can navigate the robot in the passages with obstacles effectively and would be applied extensively.
| Identifer | oai:union.ndltd.org:TW/096NCU05392057 |
| Date | January 2008 |
| Creators | Kai-Wen Lo, 羅凱文 |
| Contributors | Jang-Ping Sheu, 許健平 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | en_US |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 43 |
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