| Summary: | 碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 96 === In this thesis, a self-localization algorithm and a software platform are developed for an omni-directional robot with omni-directional vision. The research is divided into two parts: robot self-localization and robotics software platform. In the development of robot self-localization algorithm, a recursive particle filter with probabilistic distribution is utilized to find the robot pose in the environments. The particle filter is composed of a motion model and a sensor model. The motion model is constructed based on robot kinematics with
motor encoder feedback, while the sensor model is established by using an omni-directional vision system. In the development of robotics software platform, a software module is programmed for the robot mechatronics system to solve the interface problem for robots with heterogeneous hardware, including humanoid robots, two-wheeled robots, and omni-directional robots. The software platform is developed on Window PC-based controllers to resolve
the interface and communication problems between these controllers.
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