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研究生: 李崇嘉
Chung-Chia Lee
論文名稱: 應用雷射測距儀於校園室內立方地圖建構
Application of Laser Range Finder for Campus Indoor Voxel Map Building
指導教授: 曾煥雯
Tzeng, Huan-Wen
學位類別: 碩士
Master
系所名稱: 電機工程學系
Department of Electrical Engineering
論文出版年: 2014
畢業學年度: 102
語文別: 中文
論文頁數: 88
中文關鍵詞: 立方地圖地圖建構自主型移動機器人雷射測距儀
英文關鍵詞: Voxel map, Map building, Autonomous robot, Laser Range Finder
論文種類: 學術論文
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  • 近年來,機器人相關產業迅速發展。除了常見的工業用機器人之外,家庭照護機器人或是救援機器人也相繼被開發出來並且運用在實際情況中。
    由於自主型移動機器人機動性高的特性,所以可以應用的範圍非常廣。許多研究多以超音波感測器、雷射測距儀或是立體攝影機協助進行地圖建構的任務。本研究選擇使用雷射測距儀作為地圖建構的設備。
    本研究之自主型移動機器人將雷射測距儀裝載於移動式掃描平台,藉由改變掃描平台的角度以掃描環境,並記錄所回傳的距離資訊。本研究之雷射測距儀也用於決定自主型移動機器人的移動模式以防止機器人隨機於環境中移動。除此之外,研究者結合電子羅盤與RFID 進行機器人基準點與方位之判斷使地圖資訊能夠更加精確。
    本研究將雷射測距儀回傳的距離資訊進行座標轉換後,擷取機器人前方3.5公尺至4.5公尺區間的距離資訊做聯集,其聯集後的資訊延展成為該區間所擁有的障礙物情況。
    本研究利用正立方體的方式來表示環境中障礙物的佔有情形,並稱之為立方地圖。立方地圖能夠有效地建構出環境中障礙物的分佈情形,並且容易進行地圖更新。
    本研究提出一套立方地圖建構的系統,經由研究者設計的機器人移動機制,機器人能夠順利地在環境中行走,並且擷取環境中的距離資訊。將這些大量的距離資料經過本研究的運算方法後,可以有效的減少運算量。在後續研究中希望提供立方地圖給校園巡邏機器人作為火災偵測或巡邏使用。

    In recent years, the robot industry has developed rapidly. Besides industrial robots we are familiar with, family-care robots and rescue robots are developed and applied in practical conditions.
    Because autonomous robot has high mobility, it can be applied widely. In most researches, researchers commonly use ultrasonic sensor, laser range finder and stereo camera to do map building tasks. In our research, we use laser range finder to accomplish our research.
    We equip the laser range finder with scan platform. By pan-tilting the scan platform, we can receive and record range data of environment. We also take the advantage of range data to decide which movement mode to avoid robot moving randomly in the environment. In addition, we combine with electronic compass and RFID to improve our map more accurately.
    We transform range data into Cartesian coordinate system by trigonometric function calculation. We capture the interval of one meter between 3.5 meter and 4.5 meter which is in front of robot to be the union. The union stands for the condition of occupancy in the interval.
    We use voxels to present the condition of occupancy in the environment. We call it “Voxel Map.” We can establish the condition of occupancy in the environment and update map efficiently by applying voxel map.
    We develop a system to build voxel map. Under the movement rules we design, the robot can move smoothly and collect range data in the environment. By calculating a great a quantity of range data in our algorithm, we can reduce the amount of computation efficiently. In future work, we can provide voxel map information to campus patrol robot for fire detection patrol or routine patrol.

    中文摘要 i 英文摘要 iii 謝誌 v 目錄 vii 表目錄 xi 圖目錄 xiii 第一章 緒論 1 1.1 研究背景與動機 1 1.2 研究目的 2 1.3 研究限制 3 1.4 研究方法 4 1.5 研究步驟 5 第二章 文獻探討與回顧 7 2.1 機器人及相關研究 8 2.2 感測器及相關研究 10 2.2.1 超音波感測器 11 2.2.2 立體攝影機 12 2.2.3 Kinect 12 2.2.4 電子羅盤 13 2.2.5 RFID 13 2.3 雷射測距儀及相關研究 14 2.3.1 雷射測距儀的原理和特性 14 2.3.2 雷射測距儀的應用 15 2.4 地圖建構及相關研究 17 2.4.1 佔有方格地圖 17 2.4.2 拓樸地圖 18 2.4.3 特徵地圖 19 2.4.4 3D物件重現地圖 20 2.4.5 立方地圖 22 2.4.6 綜合比較 23 第三章 系統架構分析 25 3.1 系統架構設計 25 3.2 機器人導航 27 3.2.1 脈波控制 27 3.2.2 雷射測距儀之配置 28 3.2.3 循邊模式 29 3.2.4 避障模式 33 3.2.5 避障模式─地面障礙物閃避機制 35 3.2.6 避障模式─水平障礙物閃避機制 37 3.2.7 機器人移動規則 37 3.3 根點定位 40 3.3.1 環境根點之定義 41 3.3.2 電子羅盤之偵測 41 3.3.3 機器人轉向控制 42 3.4 雷射資料擷取與處理 43 3.4.1 環境資訊擷取流程 44 3.4.2 雷射資料修正 45 3.4.3 雷射資料的座標轉換 46 3.4.4 雷射資料的擷取方法(一)─全掃描 47 3.4.5 雷射資料的擷取方法(二)─關鍵點全掃描 47 3.4.6 雷射資料的擷取方法(三)─特定掃描 48 3.4.7 雷射資料的擷取方法(四)─簡要掃描 48 3.5 立方地圖建構 49 3.5.1 正立方體規劃與設計 50 3.5.2 機器人移動與座標的關係 50 3.5.3 立方地圖之狀態登錄 52 3.5.4 建構初始地圖 53 3.5.5 立方地圖的定期更新 54 第四章 系統設計與實作 57 4.1 系統整體架構 57 4.2 硬體設備與軟體環境 58 4.2.1 硬體設備 58 4.2.2 軟體環境 62 4.3 場景規格與建置 63 4.4 實驗成果 64 4.4.1 機器人移動路線 65 4.4.2 擷取方法(一)─全掃描的結果 66 4.4.3 擷取方法(二)─關鍵點全掃描的結果 67 4.4.4 擷取方法(三)─特定掃描的結果 69 4.4.5 擷取方法(四)─簡要掃描的結果 70 4.4.6 結果比較 71 4.4.7 總結 72 第五章 結論與後續研究 73 5.1 結論 73 5.2 後續研究 75 參 考 文 獻 77 附錄一 實驗場景地圖 83 附錄二 立方地圖(方法一) 84 附錄三 立方地圖(方法二) 85 附錄四 立方地圖(方法三) 86 附錄五 立方地圖(方法四) 87 作者簡介 88

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