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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/52279

Title: Application of Differential Global Positioning System and Path Planning to Robot Outdoor Patrol
Authors: Yu-Hsiang Lu
Jih-Gau Juang
Contributors: 國立臺灣海洋大學:通訊與導航工程學系
Keywords: DGPS
fuzzy control
image processing
laser sensor
A* algorithm
WMR
Date: 2018-08
Issue Date: 2019-06-21T03:52:09Z
Publisher: Sensors and Materials (SCI)
Abstract: Abstract: In this paper, we present a robot outdoor patrol that applies a differential global positioning
system (DGPS), an encoder, a web camera, and a laser sensor with an improved A* algorithm to
achieve fixed route patrol. Obstacle avoidance by smooth pathfinding in complicated unknown
environments is also considered. While in fixed route patrolling, the DGPS provides locations
of the wheeled mobile robot (WMR) and the corners of buildings. By image processing and
the wheel’s encoder, the orientation of the WMR can be calibrated if the web camera has
deviation angles to the target building. Along the patrol path, people or other obstacles may
block the WMR while patrolling, so the laser sensor is used to provide the distances and edge
values of such obstacles. This information is then used to improve the A* algorithm to achieve
the shortest and smoothest path. A fuzzy controller is used to assist the WMR with obstacle
avoidance in unknown environments. After finishing a patrol, the WMR system will send a
message to a security guard to report whether the patrol region is in normal condition. If the
camera detects an unidentified person, the robot will send the location of the person to the
control center and ask for help.
Relation: 30(8) pp.1643-1654
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/52279
Appears in Collections:[通訊與導航工程學系] 期刊論文

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