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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/111469


    Title: 於ROS之地圖建置與探索系統設計
    Other Titles: Design of mapping and exploration system with ROS
    Authors: 黃文鴻;Huang, Wen-Hung
    Contributors: 淡江大學電機工程學系碩士班
    李世安;Li, Shih-An
    Keywords: 導航;路徑規劃;A*演算法;動態視窗法;機器人作業系統;Robot navigation;Path Planning;A* algorithm;Dynamic Window Approach (DWA);Robot Operating System (ROS)
    Date: 2016
    Issue Date: 2017-08-24 23:53:38 (UTC+8)
    Abstract: 本論文提出一地圖建置與探索系統,此系統可在未知的環境中令機器人進行探索以及建置地圖的任務。此系統分為前端的SLAM技術以及後端的導航架構;前端SLAM技術使用的是Hector SLAM,利用雷射測距儀動態的將當下環境繪製成晶格地圖;後端的導航架構會將前端SLAM技術提供的地圖依機器人半徑轉換為權重地圖,再使用全域路徑及區域路徑做機器人移動路徑點。全域路徑使用A*演算法取得最短路徑,若目標點在未知區域時,全域路徑先規劃至未知地圖邊緣,接下來再規劃從機器人至目標點間的無障礙區路徑。區域路徑規劃使用動態視窗法結合A*演算法。此方法在每個時刻預先預測所有可能移動軌跡,再讓機器人依照最佳移動軌跡移動。在機器人移動時探索道未知區域時,此時會檢討全域路徑於未知區域的規劃。若全域路徑有穿過障礙物,則重新規劃全域路徑。該策略讓機器人在探索地圖時, 遇到未預期障礙物可以迅速做出反應並有效地避開。根據實驗結果,本系統可使機器人於未知環境中做到探索並將周圍環境建置成2D地圖。
    This paper proposes a mapping and exploration system. This system can let robot take the task of exploring and mapping under unknown environment. This system can be separated into front-end SLAM technique and back-end navigation architecture. Front-end SLAM uses Hector SLAM which according LiDAR information and dynamic draw the environment into the grid map. Back-end navigation architecture will consider the robot’s radius and turn the grid map from front end into threshold map. Then using global path planning and local path planning to make robot move correctly. Global path planning using A* algorithm. Global path will plan the path to edge of map then plan the path to target as obstacle free zone if the target is in unknown area. Local path planning using dynamic window approach combined with A* algorithm. This method will predict all possible moving trajectories and choose the best trajectory let robot follow the trajectory. While exploring the unknown Road area when the robot moves, then will review the global path planning in unknown areas.
    If there are entire domain path through obstacles, the global re-planning path. This strategy allows the robot to explore the map when encountered unexpected obstacles can react quickly and effectively avoided. According to the results, the system can be done in an unknown environment and explore the surroundings to build 2D map robots.
    Appears in Collections:[電機工程學系暨研究所] 學位論文

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