碩士 / 國立臺北科技大學 / 電機工程系研究所 / 100 / This thesis presents a high-precision simultaneous localization and mapping of mobile robot in unknown large-scale surveillance environments. Utilizing ceiling-mounted PTZ surveillance cameras, additional correction step is integrated into the EKF-SLAM system to ensure high-precision localization and mapping. The 3D sparse map is transformed into 3D and 2D navigation maps. Based on the navigation maps, robot trajectory can be generated using Bezier spline curves to allow smooth movements. Effective navigation and control approach for the mobile robot is proposed to allow mobile robot to follow the generated trajectory. In order to extend the coverage area of surveillance cameras, aerial robots equipped with cameras is employed to cover un-surveillance area. Control law for the aerial robots is also applied allowing them to stabilize themselves and move around in un-surveillance area. Experiments were performed in laboratory environments to validate the feasibility and effectiveness of the proposed system. This system can be further developed to potential robotics applications in unknown environments.
| Identifer | oai:union.ndltd.org:TW/100TIT05442082 |
| Date | January 2012 |
| Creators | Samuel Simon, SamuelSimon |
| Contributors | Wen-Chung Chang, 張文中 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | en_US |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 71 |
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