Autonomous Navigation and Map Construction of a Mobile Robot

• Main Authors: Ren-Ping Huang, 黃任平
• Other Authors: 張耀仁
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/32876764890036312168

碩士 === 長庚大學 === 電機工程研究所 === 95 === The purpose of this thesis is to develop obstacle avoidance and intelligent navigation methodologies to enable intelligent maneuver of intelligent vehicles. An on-line map-construction technology is developed to be used for dynamic path planning that can offer more intelligent behavior crucial for a mobile robot. The map is also useful for a remote operator to have a clear understanding of the environment surrounding the vehicle. The environment faced by a mobile robot is usually unknown in advance. A laser range finder is used to sense the environment in this thesis. The sensor has high resolution and doesn’t rely on lightning condition. Based on the obstacle-avoidance and map-construction algorithms, the vehicle is able to reach assigned targets safely and robustly. Data collected from the laser range finder is transferred via Bluetooth to the remote controller, a standard personal computer for map construction. Navigation strategies that exhibit obstacle-avoidance behavior are implemented on the PC, and manipulations commands are sent through Bluetooth back to the vehicle. Furthermore, the map-construction is successfully achieved using the Simplex optimization method.