蔣欣翰Chiang, Hsin-Han林捷Lin, Chieh2022-06-082026-10-072022-06-082021https://etds.lib.ntnu.edu.tw/thesis/detail/f9b0c70df1dd11f035d27db2588f7a80/http://rportal.lib.ntnu.edu.tw/handle/20.500.12235/116963本論文提出了一種自主式移動機器人(Autonomous Mobile Robot, AMR) 設計實現與其應用於室內環境自動化的解決方案，將移動機器人平台與多種採集儀器相結合，實現於室內環境下的自動資料採集。在開發的功能中，移動機器人可以與示波器或行動裝置等測量儀器進行通信，並對其進行控制。在實際進行操作時，機器人利用事先建立的地圖，並按照規劃好的路線自動導航，採集室內環境下使用者需要的感測資訊例如：地磁強度、Wi-Fi訊號強度或室內定位資訊等資料。本論文也改良粒子濾波器之重採樣時機與撒點的方式提升AMCL演算法之精確度並同時修正里程計的累計誤差，使機器人能夠在確保定位準確的前提下，能以更快的速度進行移動與導航，並應用在更加挑戰的環境當中。本論文所開發的機器人平臺更與業界進行合作，導入室內空間與辦公室環境中進行資料採集任務，顯示此系統已有完整的架構與實際產業上之需求潛力。This thesis presents the design and implementation of an autonomous mobile robot (AMR) with its solution for automating tasks in indoor environments. The AMR with the combination of a variety of acquisition instruments is developed to carry out the automatic data acquisition task in an indoor environment. Through the built-in functions, the AMR can communicate with and control test instruments such as oscilloscopes or mobile devices. In actual operation, the robot uses a pre-established map and follows a planned route to automatically navigate and collect sensor information such as geomagnetic strength, Wi-Fi signal strength, or indoor positioning in an indoor environment. It also improves the accuracy of AMCL algorithm by improving the resampling timing and scattering of particle filters and corrects the accumulated error of odometry, so that the robot can move and navigate faster while ensuring accurate positioning, and can be applied in more challenging environments. The platform developed in this paper has also been used in collaboration with the industry to perform data collection tasks in indoor and office environments, demonstrating the potential of this system to have a complete architecture and practical industry demand.自主式移動機器人室內資料採集室內定位知識性路徑規劃自主式導航驗證AMRindoor data acquisitionindoor localizationinformative path planningautonomous navigation evaluation學術論文