Design and Development of an Autonomous Mobile Robot's Intelligent Navigation Control System

• Main Authors: Yu-Hung Lu, 呂育宏
• Other Authors: Yeon-Pun Chang
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/30315363058774949327

碩士 === 中原大學 === 機械工程研究所 === 95 === The subject of this dissertation is to design and develop an intelligent navigation control system for an autonomous mobile robot using open modular structure. Here, the proposed control system may be divided into two parts. One is the obstacle avoidance system and the other is the patrol system. Measuring the environment information by two ultrasonic sensors and a stereo vision system for the obstacle avoidance system can evaluate the volume, distance, and location of obstacles to let the robot successfully avoid obstacles. Also, according to the build-in map data let the robot adapt complex change of environment and complete the mission of building patrol. There are three experiments to be designed in the dissertation for verifying the obstacle avoidance ability, integration of control modules in specially designated environment, and autonomously building patrol capability of the robot. The experiment results show that the robot can successfully accomplish the building patrol mission by using the proposed intelligent navigation control system. The totally route is about 115 meters and the patrol mission completed time is about 13 minutes.