The Modification of Line Segment Based Map Building Method
碩士 === 逢甲大學 === 航太與系統工程所 === 99 === The purpose of this paper is to realize the unmanned vehicles are actually possessed of the ability to perceive environment. In order to test the actuality, a two-dimensional graphical user interface system is developed by using LabVIEW and MATLAB software. The sy...
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
2011
|
| Online Access: | http://ndltd.ncl.edu.tw/handle/69325128156027881912 |
| Summary: | 碩士 === 逢甲大學 === 航太與系統工程所 === 99 === The purpose of this paper is to realize the unmanned vehicles are actually possessed of the ability to perceive environment. In order to test the actuality, a two-dimensional graphical user interface system is developed by using LabVIEW and MATLAB software. The system allows unmanned vehicles and monitoring to rapidly obtain data and construct a map of the environment surrounded. The challenge is the construction of the mapping which is the core of the entire system. Therefore, this study is focus on investigating which map-building method could best assists the unmanned vehicles to obtain the most accurate information and data of the environment.
An optimal linear clustering method was used to construct a complete geometric primitives-based map. However, it lacks the ability to precisely determine the accessible regions in the environment. Also the mapping efficiency decreased as the complexity of the environment increased. A method of breakpoint detection with data point simplification is proposed to solve the aforementioned issues. This method will be further tested by laser ranger finder in different specified rotation angles and testing environments. Subsequently, the experimental results are conferred on the accuracy and efficiency of the map-building to ensure that the system coupled with this new approach is enabling to construct a high accuracy environment map promptly.
|
|---|