Reactive Robot Navigation System Using Laser Range Finder

• Main Authors: Po-Liang Lin, 林伯亮
• Other Authors: Jin-Shiuh Taur
• Format: Others
• Language: en_US
• Online Access: http://ndltd.ncl.edu.tw/handle/91651690155188660482

碩士 === 國立中興大學 === 電機工程學系所 === 97 === This thesis presents a new robot navigation system which is designed to navigate a robot to move in an unknown environment. A laser range finder is used to get the sensory data from the surrounding environment of the robot; it is extremely accurate if compares with other range finders such as the sonar. A behavior-based architecture is used for constructing a framework of this system, and then a number of behaviors with specific functions are implemented and attached to this framework. A simple, yet useful behavior coordination mechanism called priority-based coordination is deployed for this behavior-based architecture. This system implements three mechanisms for navigating the robot. The first, a corner turning mechanism based on the feature extraction of a polar-distance histogram is purposed. The second, a wandering mechanism which combines obstacle avoidance and free space seeking is purposed, and then it has been enhanced according to the observations of some experiments. The third, a goal seeking mechanism which can be used for navigating a robot to approach a goal point without any collision. Each mechanism is evaluated by some experiments for demonstrating its ability to react with the environment. Finally, the evaluation results all show that this navigation system is suitable for navigating a robot in an unknown environment. At the end of this thesis, some suggestions are purposed for the researchers who are interesting on the extend studies of this system.