Development of an Exploration System for a Vision-guided Mobile Robot in an Unknown Indoor Environment.

• Main Authors: Chia-Wei Chang, 張家瑋
• Other Authors: Jong-Hann Jean
• Format: Others
• Language: zh-TW
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/68039400825285824416

碩士 === 聖約翰科技大學 === 電機工程系碩士班 === 97 === In this thesis we present the development of an exploration system for a mobile robot in an unknown indoor environment, mainly focusing on integration of multiple ultrasonic sensors and an image sensor to autonomously build the environment map. For this purpose, we reconstruct the mobile robot, P3-DX, by utilizing its ultrasonic sensors and inertial sensors and adding an additional CCD camera system. First, by fusion of multiple ultrasonic sensors, we propose an exploration strategy based on the probabilistic grid map method to solve the sensing defects of a single ultrasonic sensor and improve the quality of map-building. Then, we develop another exploration strategy by additionally incorporating the image sensor to detect the wall baselines and accelerate the speed of map building. Finally, we apply the pro-posed indoor exploration system to locally patrol the third floor of EE building of our campus and validate its performance.