Self-Localization and Path-Planning of Home Service Robot

• Main Authors: Chun-Chieh Chang, 張竣捷
• Other Authors: 蕭俊祥
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/tc4k87

碩士 === 國立臺北科技大學 === 機電整合研究所 === 99 === This paper proposes a system design for home service robot capable of path-planning and localization in the real environment. First, the robot uses a webcam to identify landmarks around the space, and then uses the scanning laser range finder to measure the distances between the robot and landmarks. Triangulation method is applied to calculate the robot position in the space. In this study, LabVIEW 2009 package is employed as the platform for image processing and robot localization. Once the robot location and orientation are known, path-planning and navigation are carried out by using the potential field method. Accordingly the robot can arrive the goal target and avoid the obstacles along the way.