碩士 / 國立臺北科技大學 / 電機工程系研究所 / 101 / A robot navigation and control system based on visual simultaneous localization and mapping is proposed in this thesis. Machine vision, image processing, simultaneous localization and mapping, visual servoing and navigation
control techniques are integrated to construct navigation and control system of mobile robots in unknown surveillance environment. 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. This thesis proposed a method that using generated trajectory with the ceiling-mounted surveillance camera for navigation control by using visual servoing. Experiments was run on laboratory environment to prove the feasibility and effectiveness of the system. This system can be further developed to different robotics applications in unknown environments.
| Identifer | oai:union.ndltd.org:TW/101TIT05442093 |
| Date | January 2013 |
| Creators | Shu-Wei Kuo, 郭書瑋 |
| Contributors | Wen-Chung Chang, 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 | 71 |
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