| Summary: | 碩士 === 國立中正大學 === 電機工程研究所 === 87 === An autonomous exploring system that consists of a low cost dual-ultrasonic sensor module and a novel approach for building a map of the environment is presented in this thesis. Instead of exploring an environment randomly, the proposed approach provides a systematical, safe, and efficient strategy to construct the map of the environment by means of exploring merely the preferential points. In this approach, a mobile robot constructs the virtual map by means of a line segment method, some partially known environmental information, and two assumptions. Besides, the concept of safe zones is also introduced in the system to keep the mobile robot safe. Based on the virtual map, a searching method is used to select a location which belongs to safe zones for the mobile robot to go forward. Simulations and experiments are given to demonstrate the performance of this proposed approach.
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