Dissertation > Excellent graduate degree dissertation topics show

Detection of Road Conditions and 3D Map Building for Walking-Assistant Robot Based on Laser Range Finder

Author: DengChengCheng
Tutor: CaoQiXin
School: Shanghai Jiaotong University
Course: Mechanical and Electronic Engineering
Keywords: road detection walking-assistant robot 3D map building
CLC: TP242
Type: Master's thesis
Year: 2012
Downloads: 160
Quote: 0
Read: Download Dissertation

Abstract


As China has entered the aging society, walking-assistant robot is becoming the focus of researchers around the world. As a service robot, there is of great need for the walking-assistant robot to help the elders or the disabled to walk, with some extra function. However, some conventional walking-assistant robots are pure mechanical products,and there are no extra functions except assistance, to say nothing of avoiding obstacles, and some walking-assistant robots use ultrasonic sensor to detect obstacles. However, the detection range of this sensor is quite limited.In addition, walking-assistant robots usually work in indoor environment. In the unstructured environment, walking-assistant robots should have the function to detect the road conditions, so if the road is uneven or obstacles arises, walking-assistant robot should remind the user to avoid the obstacles.What’s more, since the users of walking-assistant robots are ordinary operators, who don’t have professional skills to manipulate the robots. And the robot should have the function to localize itself and navigate so as to serve the human being. In this case, the map and manipulation of the robot must be easy to learn and the robot should establish a 3D map automatically.Therefore, the detection of the road conditions and building 3D map for walking-assistant robot is quite essential. This thesis makes use of the laser range finder to detect the road conditions and build up a 3D VRML map. Firstly, This thesis proposes a new function for walking-assistant robot to detect the road conditions and obstacles, as well as avoiding the obstacle automatically. In addition, as to the 3D map building, this paper sets up a platform to acquire the 3D point clouds of the indoor environment. and then uses ICP algorithm the register the point cloud in the environment, afterwards RANSAC algorithm and data clustering methods are used to segment the large-scale unorganized point clouds. Finally, the segmented point clouds are converted to VRML model and a 3D VRML map is built. The whole system is verified in different environments and the experimental results are in expectation.

Related Dissertations

  1. Studies on the Hierarchical Data Processing in Pattern Classification and Visual Navigation,TP391.41
  2. Highway auto ranging system,U495
  3. Research of Road Detection in Vision Navigation,TP274.4
  4. Vision Navigation in Multi-Scene and Unstructured Road for Mobility Robot,TP242
  5. Mobile robot visual navigation of road detection,TP242
  6. Real-time image processing based on FPGA and embedded systems,TP391.41
  7. Study on Lane and Target Detecting Technique in Intelligent Vehicle,TP274.4
  8. Remote sensing images of road detection method based on Contourlet transform and active contour models,TP751
  9. Rough Set Theory Based Behavior Decision-making of Patrol-robot,TP242.6
  10. Research of Active Vision Based Intelligent Vehicle Navigation System,TP242.6
  11. Tracked Mobile Robot Control System Design and Implementation,TP242
  12. Research on Visual-Based Road and Lane Identifying of Intelligent Vehicle Navigation,TP391.41
  13. Automatic Pavement Crack Identification System Research Based on Digital Image Processing,TP391.41
  14. About the Research to Information Identification and Processing System of Obstacle for Unmanned Vehicle,TP391.41
  15. Research on Intelligent Vehicle Autonoumous Navigation in Campus Areas,U463.6
  16. For visual navigation path detection and tracking technology research,TP274
  17. Based on Information Fusion roads and obstacle detection method,TP242
  18. Unmanned intelligent vehicle based on monocular vision -based road detection,TP391.41
  19. Research on Typical Linear Target Extraction from Remote Sensing Image Based on Feature Level Fusion,TP75
  20. Research of Road Detection Algorithm Based of Monocular Vision,TP391.41
  21. Study on Key Technologies of Intelligent Vehicles in ITS,TP29-AC

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
© 2012 www.DissertationTopic.Net  Mobile