| Summary: | 碩士 === 國立中正大學 === 光機電整合工程所 === 96 === In recent year mobile robot become more and more popular, mobile robot becomes one of the hot researches in robotics. With recent rapid growth of computer and robotic technology, robot can help people to execute more difficult and dangerous missions. Mobile robot extensively application in service, security industry, rescue,…etc. robot bring significant business opportunities and will become one of the main development in Taiwan.
The objective of this thesis is to develop the motion planning for “Security Warrior” , robot based on multi-sensor fusion system, it can provide home care and security service , robot equipped many devices so it can complete difficult mission and provide more services for user , the objective of this thesis focus on indoor localization and motion planning, we use laser range finder to scan environment and matching with predefined map to achieve localization, when robot complete localization user can base on robot position to control robot , when robot execute task it can avoid static obstacle and dynamic obstacle.
Finally, in order to operate more convenient we designed graphic user interface to feedback robot position, we also planned motion system so robot can move smoother and robot can compute the optimal path between robot initial position and goal ,our robot display a high degree artificial intelligent, Motion planning system has successfully proved the feasibility and reliability.
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