碩士 / 國立臺北科技大學 / 電機工程系研究所 / 96 / A floor washing robot must possess the autonomous cleaning ability in an unknown environment. Existing commercialized robots do not have the functions of localization and map building; therefore they can only clean the floor by using random path. For the mentioned problem, this study resents an omni-directional floor washing robot with ultrasonic and optical sensors. The mobile robot employs the optical flow and ultrasonic nformation to achieve self-localization and 2-D map building. Furthermore, the 2-D map is used for path planning and navigation. A complete coverage path planning method was proposed based on the 2-D map in order to nerate desired trajectory. As a result, the mobile robot can use 2-D map to achieve an entire cleaning task and to navigate he whole workspace. It has to return to the charging station by itself when the power is weak. The CCD camera mounted on the top of the robot is to accomplish the visual servo trol task. The proposed system has been effectively validated in an indoor environment by experimenting with the omni-directional floor washing robot.
| Identifer | oai:union.ndltd.org:TW/096TIT05442035 |
| Date | January 2008 |
| Creators | Bo-Sian Tsai, 蔡柏賢 |
| Contributors | 張文中 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 84 |
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