本論文結合了式內定位、路徑規劃與控制實現了室內自主導航系統。整合了雙眼攝影機、雷射測距儀(Laser rangefinder, LRF)與慣性量測單元(Inertial measurement unit, IMU)三種感測器之建立。LRF混和IMU定位與建圖系統負責機器人之核心定位。視覺輔助定位用於機器人之初始定位。路徑規劃採用Voronoi地圖劃分與Dijkstra路徑選擇規劃出最短路徑。依據路徑加入控制系統即可實現機器人之室內即時導航。最後透過實驗驗證本研究的即時性與優異性。 This study integrates the indoor localization, path planning and control to achieve indoor navigation system for the wheeled mobile robot. The sensors used in this system include binocular camera, laser rangefinder (LRF) and inertial measurement unit (IMU). The robot localization is mainly based on the LRF with IMU sensors. The initialization of the robot is assisted by binocular visual localization. The Voronoi diagram and Dijkstra''s algorithms plans shortest path. Following the path, the control system can achieve real-time indoor navigation. Finally, the experimental results demonstrate Real-time Path Planning and Control for the Mobile Robot is achieved.
