請用此 Handle URI 來引用此文件: http://rportal.lib.ntnu.edu.tw:80/handle/20.500.12235/81384
標題: 智慧型導航機器人技術概論
其他標題: Introduction of Intelligent Robot Navigation Technology
作者: 許陳鑑
王偉彥
龔彥丞
簡江恆
溫苡柔
章家瑜
Chen-Chien Hsu
Wei-Yen Wang
Yen-Cheng Kung
Chiang-Heng Chien
Yi-Jou Wen
Chia-Yu Chang
公開日期: 九月-2015
出版社: 國立臺灣師範大學師資培育與就業輔導處
Office of Teacher Education and Career Service
摘要: 本篇文章主要針對智慧型機器人導航的三個主要部分:建圖、定位、路徑規劃等,做一個簡約的介紹,讓讀者有一個基本的觀念可以實作自主機器人的導航功能。對於現有諸多的演算法當中,我們以送代最近點演算法、蒙地卡羅定位法以及一些路徑規劃演算法等為基礎,分別進行改良,並利用諸多實驗等來證明其強健性。藉由這篇文章,讀者可依照我們的功能,實現一個自主性的導航機器人,並激發改良現有演算法的想法,使得我們的科技能逐步邁向巔峰。
This paper proposes a brief introduction towards the issue of robot navigation in temls of map building, robot localization, and path planning. Among all the existing contributions, Iterative Closest Point (ICP), Monte Carlo localization, and various path planning algorithms are used in this paper, and modifications of algorithms for improvements are also proposed thoroughly. In order to evaluate the effectiveness of the proposed approaches, several experiments are conducted and illustrated in details. hrough the proposed algorithms, one can realize a fully autonomous navigation robot, and stimulate one's mind of coming up new methods for further improvements, creating a better technological future.
URI: http://rportal.lib.ntnu.edu.tw:80/handle/20.500.12235/81384
其他識別: 45161401-C9BB-935E-F5F5-10B8BE3BE583
顯示於類別:中等教育

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