| Summary: | 碩士 === 國立成功大學 === 工程科學系碩博士班 === 96 === In this thesis, we develop an Intelligent Outdoor Road-Cleaning Robot, which is designed to cleaning the fallen leaves. A TMS320LF2407A DSP (Digital Signal Processor) is used as the core of the cleaning robot. There are four modules in the robot, including motion control, ultrasonic sensors, power management, and image sensor modules.The image sensor data is processed by a computer. The DSP communicates with the computer through RS232. The robot detects the road information of an outdoor environment by fusing the information of the ultrasonic sensors and the image sensor.The Boustrophedon method is used for the Complete Coverage Path Planning(CCPP)to accomplish the cleaning task.Thus, the robot can finish the work of road cleaning and navigation automatically in an unknown environment.
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