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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/40882

Title: Indoor Map Building by Laser Sensor and Positioning Algorithms
Authors: Jih-Gau Juang;Jia-An Wang
Contributors: 國立臺灣海洋大學:通訊與導航工程學系
Date: 2015
Issue Date: 2017-02-07T03:39:00Z
Publisher: Applied Mechanics and Materials
Abstract: Abstract: This study uses a wheeled mobile robot (WMR) to explore unknown indoor environment and build up a map of the unknown environment. The robot utilizes laser measurement sensor with a indoor localization system to detect obstacles and identify unknown environment. The localization system provides the position of the robot and is used for map comparison. Fuzzy theory is applied to controller design. The proposed control scheme can control the wheeled mobile robot move along walls and avoid obstacles. The Iterative Closest Point (ICP) and the KD-tree are utilized. With sensed data of obstructions and walls, a map of unknown environment can be generated by curve fitting methods.
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/40882
Appears in Collections:[通訊與導航工程學系] 期刊論文

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