碩士 / 國立交通大學 / 電機與控制工程系所 / 97 / In this study, we aim to design and implement a dynamic path planning and navigation system which can be applied in intelligent robots, and the system offers services for users through integrates handheld devices which connect to the network. The system of path planning can divided in to global and local path planning. Global path planning finds the shortest path with a global view based on a given environment. In the other hand, local path planning is based on the real time information acquired from sensors in an uncertain environment, and it bears the characteristic of real time response of environment. In global path planning, few papers mention how to obtain useful information from maps for path planning. Consequently, this study will bring up a graphic feature node based dynamic path planning system, and with this system we can get feature nodes and their linkage within known environment. Based on this information, the system can obtain the shortest path by a shortest path algorithm. Moreover, the system can cooperate with fuzzy based navigation to accomplish dynamic path planning which has both global view and real time response. According to various kinds of sensors and inference of the algorithm, fuzzy based navigation system fusion behaviors such as impasse escape, moving in a narrow lane, obstacle avoidance, wall following and goal seeking. The navigation cooperates with dynamic path planning to accomplish navigating the robot. Finally, we will examine experimental results by the robot services.
| Identifer | oai:union.ndltd.org:TW/097NCTU5591140 |
| Date | January 2009 |
| Creators | Huang, Tzu-Wei, 黃梓瑋 |
| Contributors | Wu, Bing-Fei, 吳炳飛 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | en_US |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 110 |
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