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。;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.
