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Reactive Robot Navigation System Using Laser Range Finder
|關鍵字:||反應式;reactive;機器人;導航;系統;行為;優先權;協調;仲裁;路徑規畫;雷射測距儀;轉向;巡航;目標搜尋;直方圖;robot;navigation;system;behavior based;priority based;behavior coordination;path planning;Laser Range Finder;LRF;Laser Measurement System;LMS;arbitrator;corner turning;wandering;goal seeking;seeker;histogram||出版社:||電機工程學系所||引用:|| J. Borenstein, and Y. Koren, “The vector field histogram-Fast obstacle avoidance for mobile robots,” IEEE Trans. Robot. Autom., vol. 7, no. 3, pp.278-287, June 1991.  J. Borenstein, “Histogrammic in motion mapping for mobile robot obstacle avoidance,” IEEE Trans. Robot. Autom., vol. 7, no. 4, pp.535-539, Aug. 1991.  D. Bell, S. Levine, Y. Koren, L. Jaros, and J. Borenstein, “An assistive navigation system for wheelchairs based upon mobile robot obstacle avoidance,” Proc. IEEE Int'l Conference Robot. Autom., New York: IEEE Press, pp.2018-2022, 1994.  S. Dongqing, D. Dunlap, and E.G. Collins, "A Comparison Between a Fuzzy Behavioral Algorithm and a Vector Polar Histogram Algorithm for Mobile Robot Navigation," Computational Intelligence in Robot. Autom., CIRA 2007, pp.260-265, June 2007.  W. Li, and X. Fun, “Behavior fusion for robot navigation in uncertain environments using fuzzy logic,” Proc.of the 1994 IEEE Int'l Conference on Robot. Autom, vol. 2, pp1790-1796, April 1994.  D. An, and H. Wang, “VPH: A New Laser Radar Based Obstacle Avoidance Method for Intelligent Mobile Robots,” in 5th World Congress on Intelligent Control and Autom., Hangzhou, China, pp. 4681-4685, June 2004.  L. McFetridge, and M.Y. Ibrahim, “The Self-tuning Agoraphilic controller for Mobile Robot Navigation,“ ln Mechatronics and Machine Vision in Practice, Research Studies Press Ltd., Hervey Bay, QLD, Australia, pp22g234, Sep 2000.  L. McFetridge, and M.Y. Ibrahim, "Behavior fusion via free-space force shaping," Industrial Technology, 2003 IEEE Int'l Conference, vol.2, pp.818-813, May 2005.  H. Kim, K. Lee, K. Ryu, M. Park, "Navigation control of mobile robot using distance profile histogram," Intelligent Robots and Systems ''96, IROS 96, vol.2, pp.949-956, Nov 1996.  H. Kim, K. Lee, S. Lee, and M. Park, "Obstacle avoidance navigation using a local path planning method," Decision and Control, 1996., Proc. of the 35th IEEE, vol.1, pp.869-874, Dec 1996.  J. Minguez, and L. Montano, “Nearness diagram navigation(ND): A new real time collision avoidance approach,” in Proc. IEEE/IROS2000 Takamatsu, Japan, pp.2094-2100, 2000.  R.C. Arkin. “Behavior-Based Robotics,” MIT Press, Cambridge, MA, 1998.  R.A. Brooks, “A robust layered control system for a mobile robot,” IEEE Journal of Robot. Autom., vol.2, no.7, pp.14-23, 1986.  D. Toal, C. Flanagan, C. Jones, and B. Strunz, “Subsumption Architecture for the Control of Robots,” University of Limerick, 1996.  B.H. Krogh, “A generalized potential field approach to obstacle avoidance,” Robotics Research: The Next Five Years and Beyond, 1984, Bethlehem, PA.  R. Huq, G.K.I. Mann, and R.G. Gosine, “Behavior-modulation technique in mobile robotics using fuzzy discrete event system,” IEEE Trans. Robot., vol.22, pp.903-916, Oct 2006.  R. Huq, G.K.I. Mann, and R.G. Gosine, “Fuzzy discrete event system based behavior modulation in mobile robotics,” Intelligent Robots and Systems, 2005. (IROS 2005), pp. 2241-2246, Aug 2005.  P. Pirjanian, “Behavior coordination mechanisms - state-of-the-art,” Tech Report IRIS-99-375, Institute for Robot. and Intelligent Systems, University of Southern California, Los Angeles, California, 1999.  S.G. Goodridge, and M.G. Kay, “Multi-layered fuzzy behavior fusion for reactive control of Autonomous robots,” in D. Driankov and A. Saffiotti, ed., Fuzzy Lopic Techniques for Autonomous Vehicle Navigation, Physica-Verlag, Heidelberg, New York, pp.179-204, 2001.  A. Saffiotti, R.H. Ruspini, and K. Konolige, “Blending reactivity and goal-directedness in a fuzzy controller,” In Proc. of the Second IEEE Conference on Fuzzy Systems, San Francisco, CA, pp. 134-139, 1993.  P. Pirjanian, and M. Mataric, “Multirobot target acquisition using multiple objective behavior coordination,” in Proc. 2000 IEEE Int'l Conference Robot. Autom., San Francisco, CA, pp.2696-2702, Apr. 24-28, 2000.  O. Khatih, “Real-time obstacle avoidance for manipulators and mobile robots,” in IEEE Int'l Conference on Robot. Autom., St. Louis, MO., pp. 500-505, 1985.  S. Berman, Y. Edan, and M. Jamshidi, “A foraging group of autonomous, mobile robots-implementation of hierarchical fuzzy behavior-based control,” Electrical and ELectronic Engineers in Israel, 2000. The 21st IEEE Convention, Israel, pp.285-288, April 2000 [W-1] http://www.irobot.com [W-2] http://en.wikipedia.org/wiki/Automated_Guided_Vehicle [W-3] http://en.wikipedia.org/wiki/Motion_planning [W-4] http://robots.mobilerobots.com [W-5] http://www.sickusa.com||摘要:||
This thesis presents a new robot navigation system which is designed to navigate a robot to move in an unknown environment. A laser range finder is used to get the sensory data from the surrounding environment of the robot; it is extremely accurate if compares with other range finders such as the sonar. A behavior-based architecture is used for constructing a framework of this system, and then a number of behaviors with specific functions are implemented and attached to this framework. A simple, yet useful behavior coordination mechanism called priority-based coordination is deployed for this behavior-based architecture. This system implements three mechanisms for navigating the robot. The first, a corner turning mechanism based on the feature extraction of a polar-distance histogram is purposed. The second, a wandering mechanism which combines obstacle avoidance and free space seeking is purposed, and then it has been enhanced according to the observations of some experiments. The third, a goal seeking mechanism which can be used for navigating a robot to approach a goal point without any collision. Each mechanism is evaluated by some experiments for demonstrating its ability to react with the environment. Finally, the evaluation results all show that this navigation system is suitable for navigating a robot in an unknown environment. At the end of this thesis, some suggestions are purposed for the researchers who are interesting on the extend studies of this system.
|Appears in Collections:||電機工程學系所|
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