碩士 / 國立臺灣師範大學 / 應用電子科技學系 / 98 / Now mobile robot be used in all kinds of field. For upgrade the quality of life,more and more mobile robots are developed to help people life. In this paper, the
navigation is based on fuzzy rules, laser range finder be used to avoid the obstacles, and obtains the direction by compass.
There are horizontal obstacle avoidance and ground obstacle avoidance of the mobile robot. The horizontal obstacle avoidance can avoid most of the obstacles. Using ground obstacle avoidance with horizontal mode could raise the safety and accuracy of the navigation task in unknown indoor environment.
In the research, the simulations of general environment are in laboratory.The environments are single horizontal obstacle, horizontal obstacle and ground obstacle side by side, horizontal obstacle and can be traversed obstacle and so forth. The effects of angle of start coordinate and goal coordinate, and the length of navigation distance are be discussed to improve the accuracy of the navigation experiment.
| Identifer | oai:union.ndltd.org:TW/098NTNU5427006 |
| Date | January 2010 |
| Creators | 張原華 |
| Contributors | 曾煥雯 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 97 |
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