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| 研究生： |
朱廣文 Kuang-wen Chu |
|---|---|
| 論文名稱： |
自走車控制結合攝影機與雷射測距儀 An Autonomous Mobile Robot Control Using Camera and Laser Rangefinder |
| 指導教授： |
施慶隆
Ching-Long Shih |
| 口試委員: |
陳志明
Chih-Ming Chen 何昭慶 Chao-Ching Ho |
| 學位類別： |
碩士 Master |
| 系所名稱： |
電資學院 - 電機工程系 Department of Electrical Engineering |
| 論文出版年： | 2009 |
| 畢業學年度： | 98 |
| 語文別： | 中文 |
| 論文頁數： | 52 |
| 中文關鍵詞： | 自走車 、攝影機 、雷射測距儀 、光編碼器 、形心 、拓樸地圖 、曲率 、極座標 |
| 外文關鍵詞： | autonomous mobile robot, camera, laser rangefinder, encoder, centroid, topological map, curvature, polar coordinate |
| 相關次數： | 點閱：256 下載：21 |
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本論文的研究目的是發展一台搭配雷射測距儀與光編碼器的自走車。首先，自走車在搭配攝影機的情況下，經過色彩空間轉換、形態侵蝕以及中值濾波等影像處理後，計算出白線的形心位置。接著，自走車在搭配雷射測距儀的情況下，計算極座標上一維資料的曲率以及查詢已建置好的拓樸地圖。最後，實驗結果證實車子能夠成功地追蹤白線以及在牆壁間前進。
This paper develops an autonomous mobile robot using two sensors, camera and laser rangefinder. First, we combine this mobile robot with camera. The method consists of four modules: color space transformation, morphological erosion, median filter and centroid calculation. Second, we combine this mobile robot with laser rangefinder. The method consists of two modules: curvature estimation in polar coordinate system and topological map built in advanced. Finally, experimental results show that this mobile robot can successfully track the white line on camera and move between the walls on laser rangefinder.
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