Implementing Path Planning for a Wheel Mobile Robot through a NIOS Based Control System
| Autor: | Ping-Han Tsai, 蔡秉翰 |
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| Rok vydání: | 2008 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 96 Robot localization has been a very challenging task in mobile robotics since it in essential for a broad range of mobile robot tasks. This thesis proposes a new vision-based robot localization and map-building algorithm. Via the proposed algorithm, a robot can plan a shortest path to visit some particular locations pre-specifies by the user. This algorithm has the global searching characteristic that from Genetic Algorithm, also combines the localized searching feature with A* path evaluation standard rule. There can be schemed a reasonable path itself with this algorithm. Finally, both simulations and the practical experiments demonstrate the feasibility and effectiveness of the proposed schemes |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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