| Summary: | 碩士 === 國立勤益科技大學 === 電子工程系 === 98 === The main propose of this thesis is to study the indoor and outdoor navigation and motion plan algorithm for a mobile robot. In this work, the robot approached to the destination and avoided the obstacles by navigation sub-system, which was developed by navigation algorithm in which combined Vector Field Histogram (VFH) algorithm with Fuzzy Logic Controller (FLC).
The robot can achieve our mission either the indoor or outdoor environment, because the navigation sub-system was integrated by Real-Time Kinematic Global Positioning System (KGPS) and Laser Guide Positioning System Nav-200.
In this experimental result we carried out the simulation of software and operated the robot in the actual environment by Borland C++ Builder 6. After we adjusted the parameters in simulation, the extractive parameters would be set into the navigation sub-system of robot. Through the experiment, we got the error of the indoor navigation was smaller than 10 cm and the error of the outdoor navigation was within 0.6m~0.8m. At the same time, it is verified that the proposed navigation algorithm is efficient and executed.
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