The Development of a Navigation Mobile Robot

• Main Authors: Chih-Hsiang Yang, 楊智翔
• Other Authors: Mu-Chun Su
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/99862701195276976214

碩士 === 國立中央大學 === 資訊工程研究所 === 98 === One of the original application purposes of robots is to replace humans to work in a high risk environment and/or to complete tasks with a request of high precision or repetitive procedures. As modern electronics and information technologies advance, the applications of intelligent robots widely cover the many different domains, such as in the military industry, autonomous industries, life environments, health caring facilities, entertainment, and so on. As the need of an intelligent robot grows day by day, how to design and develop an intelligent robot is a very challenging task. For intelligent robots, three most essential functionalities are autonomous navigation, localization (positioning) and obstacle avoidance. Therefore, this thesis presents a navigation robot which moves in an omni-directional way just like an anthropomorphic behavior. In positioning, we use a mouse and a gyroscope to estimate the current location of the robot. In addition, we use the Vector Field Histogram algorithm to implement a real-time obstacle avoidance system. While we use a wall-following algorithm to explore an unknown environment, we plan a shortest path in a known environment by the Breadth-first search algorithm. Furthermore, we use a real-time obstacle avoidance system simultaneously to during the navigation tour. In addition, we also develop a software application to simulate a controller to wireless command the robot. Finally, an intelligent robot with multiple functionalities was implemented.