碩士 / 國立臺北科技大學 / 機電整合研究所 / 102 / This paper implements an autonomous robot system with abilities to construct the 2-D map of an unknown environment efficiently. The system is based on ICP (Iterative Closest Point) algorithm. The target of this robot is to build the full map, and simultaneously track its current orientation and location. In order to efficiently obtain a complete map of an indoor space, we propose an exploration method with the flood-fill algorithm to detect the reachable area quickly.
Additionally, an improvement of conventional A* algorithm is proposed to speed up the process of path-planning. A Festo Robotino omni-directional mobile robot equipped with a laser range finder and a laptop is used to validate the proposed method. Experimental results show that the developed autonomous robot is capable of mapping an unknown indoor environment with sufficient accuracy and efficiency, even with random obstacles.
| Identifer | oai:union.ndltd.org:TW/102TIT05651023 |
| Date | January 2014 |
| Creators | Nien-Yu Chen, 陳年佑 |
| Contributors | Jinsiang Shaw, 蕭俊祥 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 57 |
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