居家型機器人室內地圖之建構

Abstract

本論文所提出來以方格的方式來建構地圖在此稱方格地圖，本研究之移動機器人搭載超音波感測器在空間上作偵測，將環境中的狀態作記錄，例如:自由空間、障礙物空間、未行走過的空間，以及利用電子羅盤偵測地磁的特性，辨識方向擷取建構地圖之重要資訊，移動機器人在行走時也可以隨時作角度補償。

本論文所提出方格地圖是利用超音波所擷取特徵點，再將特徵點歸納在特徵點所屬的區域範圍之間，可以有效讓機器人在室內環境之中行動時避免不必要之碰撞及解決解析度高而造成數據龐大之問題，並且可以有效作為引導基準，最後提出準確度與信賴度來做系統評估。

The paper proposes a method by grid to constructed the map, here we called “Grid Map”. Our mobile robot installation the ultrasonic sensor to detects environment. Here we list some examples for state the environment for record below: Free space, Occupies space, Un-pass Space. Also, use electronic compass to detect magnetic properties and identify the direction. Therefore, the angle will be compensation when the robot is moving.

The grid map is using feature point for clustering feature. And then, generalize feature point in grid of region. During this research, the “Grid Map” is using to solve the problem of high dip to cause the huge statistics, but also can be basis of guidance. To achieve the robot can move arbitrarily in the indoor environment. Therefore, the paper proposes state accuracy and reliability to evaluate.