| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 99 === In this thesis, we use different distance measurement sensors to detect the environment around the mobile robot and develop basic features of robots according to the characteristics of sensors. We develop the obstacle avoidance algorithm by ultrasonic sensor array. When the robot detects the obstacle, it can find the forward direction that could pass and safely avoid the barrier. And we finish the target following by combining the algorithm with infrared transducer module. We display the environment scene on the grid map using the infrared distance measurement sensor array to detect the surrounding. In addition, we plan a shortest path in a known environment by the A* search algorithm and let the robot arrive the destination in the real world according to the path that we plan. In the high speed conditions, we use the laser range finder to detect the environment, and we analysis the measurement information from the laser range finder in different speeds.
|
|---|
