Obstacle avoidance and docking of the combinational robot using sound field characteristics and SVM

• Main Author: 黃楷祥
• Other Authors: 胡竹生
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/44230437698222667468

碩士 === 國立交通大學 === 電機與控制工程系所 === 95 === The thesis proposes a navigation method of the combinational wheels robot system in a complex indoor environment. The navigation system of traditional robot uses the infrared information to decide the moving method. But if the robot is sheltered by an obstacle from the base station, the infrared will not work effective. In order to solve this problem, the mobile robot can detect the obstacle and start navigation by using sound field characteristic and support vector machine(SVM) classifier in our system. When the mobile robot approach the base station, the robot and base station combine between the higher and lower levels according to the sensors information, and transfer the base station to a mobile station. Also in this thesis, the base station communicates with the mobile robot by the wireless LAN based on the embedded Ethernet technology. And we also propose the omni-directional platform offer a higher mobility in order to progress the combination of base station and mobile robot.