淡江大學機構典藏:Item 987654321/42048
English  |  正體中文  |  简体中文  |  全文筆數/總筆數 : 62797/95867 (66%)
造訪人次 : 3736576      線上人數 : 479
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
搜尋範圍 查詢小技巧:
  • 您可在西文檢索詞彙前後加上"雙引號",以獲取較精準的檢索結果
  • 若欲以作者姓名搜尋,建議至進階搜尋限定作者欄位,可獲得較完整資料
  • 進階搜尋
    請使用永久網址來引用或連結此文件: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/42048


    題名: Ultrasonic-based localization for mobile robots incorporating Zig-Bee modules
    作者: 許陳鑑;Hsu, Chen-chien
    貢獻者: 淡江大學電機工程學系
    日期: 2008-07
    上傳時間: 2010-02-23 14:45:40 (UTC+8)
    出版者: 哈爾濱工業大學
    摘要: In this paper, an ultrasonic-based localization method for mobile robots is proposed. Experiment environment includes a mobile robot and four emitter poles forming a square around the measuring site. Ultrasonic sensors built on the top of the emitter poles serve as transmitters and the mobile robot as a receiver. A Zig-Bee module is integrated with each of the ultrasonic sensor so as to provide wireless communication between the robot and the emitter poles for transmitting commands and receiving measurements. To avoid interference of ultrasonic signals simultaneously transmitted, the ultrasonic sensors on the emitter poles are instructed to transmit signals in a sequential order. The ultrasonic sensor in the robot can then measure the time-of-flight (TOF) without interference to calculate the distance between the receiver and transmitter ends. According to an established three dimensional coordinate model, position of the robot can be obtained based on the distance measurements. To process the distance measurements for calculating the 3D coordinates, a H8tiny-3694 processor is built into the robot. Thanks to Zig-Bee modules, position information of the robot can be instantly conveyed to a remote PC for monitoring the robot and path planning. Extensive experiments conducted have shown a satisfactory accuracy of the coordinates of the mobile robot can be obtained via the proposed localization scheme.
    關聯: Journal of Harbin Institute of Technology 15(2), pp.185-189
    顯示於類別:[電機工程學系暨研究所] 期刊論文

    文件中的檔案:

    沒有與此文件相關的檔案.

    在機構典藏中所有的資料項目都受到原著作權保護.

    TAIR相關文章

    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library & TKU Library IR teams. Copyright ©   - 回饋