碩士 / 國立高雄應用科技大學 / 機械與精密工程研究所 / 101 / This thesis is about a development that laboratory required which named “A Double-Loops Integrated Navigation System Design for the Controls of an Autonomous Mobile Robot”. In recent years, because from the application of Autonomous Mobile Robot is extensively, the development of its navigation system also became the point of research. From Automated Guided Vehicle to Service Robot, in the beginning only at Autonomous Mobile Robot fitted with sensors, and now is uses image technology. It can let the Autonomous Mobile Robot know all around environment accurately the condition, no matter machine vision or outside set video surveillance. But because of this kind with the phantom knowing all around environment method, usually can use the computation which the massive computer vision and the image processing. Therefore this thesis wants to use the double-loops integrated navigation system to accelerate the hardware processing speed, simultaneously guarantees when the image was unable obtained the Autonomous Mobile Robot still to be possible the normal navigation.
In the double-loops integrated navigation system, one is installs the encoder and the electronic compass in the Autonomous Mobile Robot, these two kind of sensors can help it to know at present walks is away from and the angle, with the material which obtains judges whether makes the revision to the present posture. Another one is erects outside sets video surveillance, will want to walk the environment photography also the transmission to the computer, and after planed walk the way, coordinates and swinging angle because of the image processing knowing Autonomous Mobile Robot, Again uses the wireless communication mold train to it issuing control command. Achieved the Autonomous Mobile Robot walks in the expectation way and can arrive in the target location. These two loops can simultaneously exist in this navigation system, when computer makes the receive and the image processing, Autonomous Mobile Robot may voluntarily make the revision to the present posture. Therefore in the navigation process the CCD lens are camouflaged, the Autonomous Mobile Robot still could continue using the sensory element to make the navigation the movement.
In the experiments, plans the way after the computer, start to navigation control, at first, we will closed the image navigation system, only used computer to recode walking-path, then we will open the image navigation system to do this experiments again. And check both the experiments results. Examined the double-loops integrated navigation system used in the Autonomous Mobile Robot whether achieves hoped of this thesis.
| Identifer | oai:union.ndltd.org:TW/101KUAS0693016 |
| Date | January 2013 |
| Creators | Chung-Yuan Chao, 趙仲元 |
| Contributors | Chao-Shu Liu, 劉昭恕 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 58 |
Page generated in 0.0017 seconds