碩士 / 淡江大學 / 電機工程學系碩士班 / 103 / In this thesis, a localization and navigation system is proposed to be implemented on a vision-based autonomous small-sized humanoid robot. There are three main parts: a vision system, a localization system, and a path planning system. In the design and implementation of visual system, some interested color blocks in the image are labeled as features. In the design and implementation of localization system, a virtual map with some obstacle information is first established. Then a method based on the Monte Carlo self-localization method and the particle filter is proposed to calculate the localization of the robot in the environment. In the design and implementation of path planning system, In order to reduce the probability of collision, the degree of similarity is used to evaluate fitness values of obstacles so that the robot does not walk toward obstacles. Then a modified A * algorithm is proposed to plan a global path planning which has less turning point. Finally, some virtual points are considered for a regional obstacle avoidance path, so that the robot can simultaneously avoid obstacles and pursue the assigned path points of global path planning method. From the experimental results, we can see that the proposed method really lets the robot with the ability to self-positioning and navigation. Moreover, the robot can safely avoid obstacles and successfully reach the destination.
| Identifer | oai:union.ndltd.org:TW/103TKU05442025 |
| Date | January 2015 |
| Creators | Min-Yi Wen, 溫泯毅 |
| Contributors | Ching-Chang Wong, Chi-Tai Cheng, 翁慶昌, 鄭吉泰 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 52 |
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