http://scholars.ntou.edu.tw/handle/123456789/18078
標題: | Indoor Map Building by Laser Sensor and Positioning Algorithms | 作者: | Jih-Gau Juang Jia-An Wang |
公開日期: | 2015 | 卷: | 756 | 起(迄)頁: | 752-756 | 來源出版物: | Applied Mechanics and Materials | 摘要: | This study uses a wheeled mobile robot (WMR) to explore unknown indoor environment and build up a map of the unknown environment. The robot utilizes laser measurement sensor with a indoor localization system to detect obstacles and identify unknown environment. The localization system provides the position of the robot and is used for map comparison. Fuzzy theory is applied to controller design. The proposed control scheme can control the wheeled mobile robot move along walls and avoid obstacles. The Iterative Closest Point (ICP) and the KD-tree are utilized. With sensed data of obstructions and walls, a map of unknown environment can be generated by curve fitting methods. |
URI: | http://scholars.ntou.edu.tw/handle/123456789/18078 | ISBN: | 1662-7482 | DOI: | 10.4028/www.scientific.net/AMM.764-765.752 |
顯示於: | 通訊與導航工程學系 |
在 IR 系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。