The Design and Implementation of Intelligent Mobile Robots

• Main Authors: Chao,Shih-Wei, 趙師葦
• Other Authors: Su,Juing-Huei
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/15866390705584000946

碩士 === 龍華科技大學 === 電子工程系碩士班 === 101 === The design and implementation of contest oriented intelligent mobile robots for micromouse, line-maze, and robotrace are discussed in this thesis. These robots can either explore a given maze to find the goal and the corresponding shortest path from start to goal, or estimate the curvature changes and record the length for each curvature of a closed track. Motion planning algorithms can then be used according to the capabilities of each robot such that these robots can run as fast as possible from start to goal. The intelligent mobile robots proposed in this thesis are all designed from scratch, including custom mechanical parts, electronic circuits, maze solving and motion planning algorithms, and automatic control firmware codes. Based on the proposed methods for environment parameter corrections, diagonal path planning, and curvature estimations, the devised mobile robots could run faster than those previously designed ones. These ideas have been justified by winning prizes in famous international contests.