Implementation of Indoor Auto Navigation Vehicle with Digital Map Capability

• Main Authors: Hu, Kai-Lun, 胡凱倫
• Other Authors: Lin, Jui-Sheng
• Format: Others
• Language: zh-TW
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/26353140113686418135

碩士 === 遠東科技大學 === 電機工程研究所 === 103 === The goal of this thesis is to develop an indoor auto navigation vehicle system. This system consists of three parts obstacle detection system, avionics system, and core algorithm system. For Obstacle detection system, the Microsoft Kinect™ is used to get the distance between obstacles and the vehicle via image processing and coordinate conversion. Avionics system is combines the electronic compass, accelerometer, gyroscope, and encoders to obtain the position and attitude of auto guided vehicle, and then combines with obstacle detection system to build digital map. Core algorithm system is uses digital map to find the shortest and avoiding obstacles path of the destination and vehicle by A* algorithm, then uses path-following navigation to achieve autonomous navigation on planned path.