Development of an Environment Exploration System for a Home Robot

• Main Authors: Wenpin Chen, 陳文斌
• Other Authors: Kai-Tai Song
• Format: Others
• Language: zh-TW
• Published: 2002
• Online Access: http://ndltd.ncl.edu.tw/handle/29485406141841699392

碩士 === 國立交通大學 === 電資學院學程碩士班 === 90 === In this thesis we develop an environment exploration system for a home robot. A multi-ultrasonic sensor module is designed and constructed for obtaining environment information. A special designed firing circuitry is developed for the sensor module to increase the scanning speed and eliminate measurement errors. We propose a new multi-ultrasonic sensor model that can interpret the ultrasonic information reasonably and efficiently. When the robot moves around in an indoor environment, it constructs an environment map based on the proposed ultrasonic model. Both computer simulation and practical experimental results are presented to demonstrate the effectiveness of map-building method proposed in this thesis.