Article thumbnail
Location of Repository

夜視型自主式群組校園巡邏機器人之研究,--子計畫三:探索室外環境功能之導航自走車之研製(II)

By 盧明智

Abstract

[[abstract]]In this project we design an autonomous wheeled robot for day and night patrol of an outdoor campus environment, mainly focusing on integration of cameras and various kinds of sensors to recognize salient landmarks, build the environment map and navigate around the environment autonomously. For this purpose, we will reconstruct a mobile robot equipped with ultrasonic sensors, GPS, digital compass, inertial sensors, laser range finder, IBDMS and IR/CCD camera system to gather environmental information. Then various visual techniques will be developed to recognize landmarks. For example, the color or texture feature can be used to classified cement, grass, or red brick areas, which helps determine the pavement and road edge. Fusion of multiple ultrasonic sensors and cameras may facilitate the detection of walls of a building. With IR images, the lamps can be easily detected by threshold at gray level of image pixels. Based on the rough positioning by GPS and digital compass, the position errors can be further reduced by detecting and tracing salient features, like SIFT features or Harris-Laplace features, with least square error fitting or Kalman filter method, and calculate the real distance between any two objects to achieve a three- dimensional localization by IBDMS method. Then, by deriving inverse sensor model of various sensors, the probabilistic grid map method can be applied to build the environment map. Finally, Then by utilizing the feedback linearization technique, a visual servo controller will be developed to successfully navigate the patrol robot moving along the road edge or artificial IR reflective lane markings.

Topics: GPS;IBDMS;紅外線攝像儀, GPS;IBDMS;IR camera., [[classification]]52
Publisher: 行政院國家科學委員會
Year: 2013
OAI identifier: oai:ir.lib.ntnu.edu.tw:309250000Q/124393
Download PDF:
Sorry, we are unable to provide the full text but you may find it at the following location(s):
  • http://ir.lib.ntnu.edu.tw/ir/h... (external link)
  • Suggested articles


    To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.