Vision-based Navigation of Mobile Robots
碩士 === 國立臺灣大學 === 資訊工程研究所 === 82 === The objective of this research is to explore the utility of vision processing for mobile robots with limited world knowledge.In particular, the ability to follow signs allows an agent to accomplish his a...
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1994
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ndltd-TW-082NTU003920522016-07-18T04:09:33Z http://ndltd.ncl.edu.tw/handle/10029259420838587909 Vision-based Navigation of Mobile Robots 以視覺為基礎的行動式機器人導航系統 Jen-hung Chen 陳貞宏 碩士 國立臺灣大學 資訊工程研究所 82 The objective of this research is to explore the utility of vision processing for mobile robots with limited world knowledge.In particular, the ability to follow signs allows an agent to accomplish his assigned tasks in a structured environment. An efficient algorithm was developed to recognize a variety of signs in real time, about in one and half seconds. The technique was tested on a Nomad 200 mobile robot to carry out sign-based navigation in our lab building. In addition, the robot navigation based on vision-based recognition and path planning is applied in simulation world. The mobile robot is expected to be able to navigate much like a human in buildings. The mobile robot plans to go to some place and firstly it could generate a path to its goal based on a map of the environment. On the midway, the robot may meet accidents which prevent it from moving ahead. At this moment, the robot should successfully and efficiently recognize the signs posted on walls and follow the instructions of signs to detour these accidents. If the exit of instructions is on the original path, the robot tracks the path toward the goal position. Otherwise, it has to generate a new path from the current position to the goal and move toward the goal along this new path. The results show that the sign-following agent is useful and the sign- following with planning agent is intelligent and flexible. Jane Yung-jen Hsu 許永真 1994 學位論文 ; thesis 108 zh-TW |
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碩士 === 國立臺灣大學 === 資訊工程研究所 === 82 === The objective of this research is to explore the utility of
vision processing for mobile robots with limited world
knowledge.In particular, the ability to follow signs allows an
agent to accomplish his assigned tasks in a structured
environment. An efficient algorithm was developed to recognize
a variety of signs in real time, about in one and half seconds.
The technique was tested on a Nomad 200 mobile robot to carry
out sign-based navigation in our lab building. In addition, the
robot navigation based on vision-based recognition and path
planning is applied in simulation world. The mobile robot is
expected to be able to navigate much like a human in buildings.
The mobile robot plans to go to some place and firstly it could
generate a path to its goal based on a map of the environment.
On the midway, the robot may meet accidents which prevent it
from moving ahead. At this moment, the robot should
successfully and efficiently recognize the signs posted on
walls and follow the instructions of signs to detour these
accidents. If the exit of instructions is on the original path,
the robot tracks the path toward the goal position. Otherwise,
it has to generate a new path from the current position to the
goal and move toward the goal along this new path. The results
show that the sign-following agent is useful and the sign-
following with planning agent is intelligent and flexible.
|
author2 |
Jane Yung-jen Hsu |
author_facet |
Jane Yung-jen Hsu Jen-hung Chen 陳貞宏 |
author |
Jen-hung Chen 陳貞宏 |
spellingShingle |
Jen-hung Chen 陳貞宏 Vision-based Navigation of Mobile Robots |
author_sort |
Jen-hung Chen |
title |
Vision-based Navigation of Mobile Robots |
title_short |
Vision-based Navigation of Mobile Robots |
title_full |
Vision-based Navigation of Mobile Robots |
title_fullStr |
Vision-based Navigation of Mobile Robots |
title_full_unstemmed |
Vision-based Navigation of Mobile Robots |
title_sort |
vision-based navigation of mobile robots |
publishDate |
1994 |
url |
http://ndltd.ncl.edu.tw/handle/10029259420838587909 |
work_keys_str_mv |
AT jenhungchen visionbasednavigationofmobilerobots AT chénzhēnhóng visionbasednavigationofmobilerobots AT jenhungchen yǐshìjuéwèijīchǔdexíngdòngshìjīqìréndǎohángxìtǒng AT chénzhēnhóng yǐshìjuéwèijīchǔdexíngdòngshìjīqìréndǎohángxìtǒng |
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1718352400520052736 |