Implementation of obstacle-avoiding robot model based on Robot Operating System and Reciprocal Velocity Obstacles algorithm
碩士 === 國立臺北科技大學 === 資訊工程系 === 107 === This research is based on Robot Operation System(ROS) using the Reciprocal Velocity Obstacle(RVO) algorithm to develop a module for obstacle-avoiding robots. To reduce the possibility of collision of the robot group, so that the robot has enough ability to adapt...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2019
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| Online Access: | http://ndltd.ncl.edu.tw/handle/kxh6gv |
| Summary: | 碩士 === 國立臺北科技大學 === 資訊工程系 === 107 === This research is based on Robot Operation System(ROS) using the Reciprocal Velocity Obstacle(RVO) algorithm to develop a module for obstacle-avoiding robots. To reduce the possibility of collision of the robot group, so that the robot has enough ability to adapt to environmental changes, and integrate multiple subsystems, ROS library to achieve anti-collision robot. In this research, the Turtlebot3 burger was used as an experimental robot. The Laser Distance Sensor(LDS) was used to establish a map model and Adaptive Monte Carlo Localization(AMCL) was used with camera-assisted real-time positioning to integrate the path planning of the RVO algorithm. This research uses the RVO algorithm to solve the moving path jitter that the Velocity Obstacle(VO) algorithm may encounter between the velocity vector decision process and the object movement.
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