| Summary: | 碩士 === 國立成功大學 === 機械工程學系碩博士班 === 95 === To participate in the human environment, the algorithms for the navigation and obstacle avoidance of intelligent robots have been studied continuously. Owing to the unavoidable limitation of the applied single sensor, an omni-directional wheeled robot with multi-sensor has been constructed in this research. The constructed robot utilizes two peripheral detecting sensors, which are valued in recent years: a laser range finder and a panoramic camera. Complementing the advantages of these two sensors, the robot can be more suitable for the household environment. As to the obstacle avoidance method and the navigation strategy, the problems caused by applying the VFH method to the developed mobile robot are discussed first. A novel navigation strategy based on VFH is then proposed to resolve these problems. Using the proposed navigation strategy, the omni-directional wheeled robot can exhibit a human-like obstacle avoidance behavior. Finally, the effectiveness of the developed wheeled robot and the practicability of the navigation strategy were verified through the experiments.
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