二輪式載具二維導航用電子地圖之研究

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姓名

朱伯穎(PO-YING CHU) 查詢紙本館藏

畢業系所

光機電工程研究所

論文名稱

二輪式載具二維導航用電子地圖之研究

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至系統瀏覽論文 ( 永不開放)

摘要(中)

本論文目標為建立自走車自動導航所需的電子地圖系統，提供自走車在導航時所需的資訊，使用雷射測距儀量測地形二維資訊建立環境地圖，經座標轉換存入電子地圖，利用弦波對應找線演算法，提取掃描後地圖直線幾何特性，並儲存於導航參考資料中，模擬真實導航時，利用現場影像比對導航參考資料，得到位置與角度的誤差，回饋自走車運動控制系統。

摘要(英)

The objective of this paper is electronic map system for automatic navigation vehicle ,the electronic map system provide for navigated information when vehicle is automatically navigating. To establish electronic map, we use laser rangefinder to measure object’s position on polar coordinate, put the position in local region of electronic map after convert polar coordinate into Cartesian coordinate.
To extract linear geometry, we use Sine wave corresponds to find lines algorithms, the geometry are stored in the navigating resources.
We get the error position and angle of vehicle by using image matching, and supply to self-propelled vehicle motion control systems.

關鍵字(中)

★ 影像辨識
★ 弦波對應找線
★ 電子地圖

關鍵字(英)

★ Image recognition
★ Sine wave corresponds to find lines
★ electronic map

論文目次

論文摘要................................................................................................................I
致謝.....................................................................................................................IV
目錄...................................................................................................................... V
圖目...................................................................................................................VII
表目...................................................................................................................... X
第一章緒論...................................................................................................... 1
1.1 研究動機與目的.................................................................................. 1
1.2 文獻回顧................................................................................................. 2
1.3 研究構想................................................................................................. 3
1.4 論文章節.............................................................................................. 4
第二章理論基礎.............................................................................................. 5
2.1 數位影像處理......................................................................................... 5
2.2 弦波對應找線演算法............................................................................. 9
2.3 勘查地形方式....................................................................................... 11
2.4 資料結構................................................................................................... 16
第三章系統設計............................................................................................ 19
3.1 系統需求 ................................................................................................... 19
3.2 功能方塊................................................................................................... 20
3.2 設計細節............................................................................................... 31
3.3.1 機構實現：........................................................................................ 31
3.2.2 軟體實現：........................................................................................ 37
第四章實驗設計結果討論............................................................................ 41
4.1 模擬建立電子地圖............................................................................... 41
4.2 弦波對應找線演算法測試................................................................... 45
4.3 模擬建立導航參考點對位................................................................... 58
4.3.1 模擬建立導航點模擬導航參考對位 .................................................... 58
第五章結論.................................................................................................... 66
參考文獻............................................................................................................. 67

參考文獻

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指導教授

江士標

審核日期

2015-7-24

推文