English  |  正體中文  |  简体中文  |  全文筆數/總筆數 : 61875/94645 (65%)
造訪人次 : 1636262      線上人數 : 14
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/987654321/80288

    題名: Real-Time Navigation for a Humanoid Robot Using Particle Filter
    作者: Jacky Baltes;Cheng, Chi Tai;Lau, Meng Cheng;Andrés Espínola
    貢獻者: 淡江大學電機工程學系
    關鍵詞: Humanoid Robot;Navigation;Particle Filter
    日期: 2013-01
    上傳時間: 2013-01-21 15:01:53 (UTC+8)
    出版者: Stafa-Zurich: Trans Tech Publications Ltd.
    摘要: This paper presents a practical real-time visual navigation system, including a vision system, a particle filter (PF) based localization system, and a path planning system, for humanoid robots in an indoor environment. A neural network (NN) converter system is used to solve the image distortion problem. The monocular vision system detects objects of interest in the scene, calculating their position in the image, and converting the position in the image to real world coordinates. The PF localization system estimates the current position by the robot’s motion model and corrects the estimated position by using feedback from the data gathered by the vision system. The path planning system determines the next motion based on the result of the localization system. This paper uses a tree-like path planning method which not only guides the robot to the destination but also avoids obstacles at the same time. The navigation method allows a user to assign several different target destinations to the robot simultaneously. The proposed method is implemented on a humanoid robot “ROBOTIS DARwIn-OP”, an open platform humanoid robot. The effectiveness of the system is demonstrated in an empirical evaluation.
    關聯: Applied Mechanics and Materials 284-287, pp.1914-1918
    DOI: 10.4028/www.scientific.net/AMM.284-287.1914
    顯示於類別:[電機工程學系暨研究所] 期刊論文





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