Routing-table-based Navigation System｜國立清華大學博碩士論文庫

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研究生：	蔡宗翰 Tsai, Tsung-Han
論文名稱：	Routing-table-based Navigation System 基於路由表建立之導航系統
指導教授：	張韻詩 Jane W.S. Liu
口試委員:
學位類別：	碩士 Master
系所名稱：	電機資訊學院 - 資訊工程學系 Computer Science
論文出版年：	2009
畢業學年度：	98
語文別：	英文
論文頁數：	99
中文關鍵詞：	導航、機器人、主動式無線訊號辨識
外文關鍵詞：	Navigation, Robot, RFID
相關次數：	點閱：2 下載：0
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本篇論文為機器人應用提出了一個基於路由表所建立的導航系統，此導航系
統擁有低成本以及可適用性高的特性。導航系統使用具有無線能力的資訊節點
(i-nodes)來標記環境中重要的地點，例如走廊、交叉路口以及轉角等地點，資訊
節點會在這些地點提供導航命令給機器人，進而達到指引的功能。本文使用一個
使用情境來說明我們可能會如何使用本系統。本文提供了兩種設計方式：分散式
導航系統(DNS)以及本地式導航系統(LNS)，各適用於不同的應用方式。我們使
用主動式RFID 標籤和一個伺服程式來模擬DNS 的資訊節點，實作DNS 的原型。
本文並分析導航命令執行時的即時系統需求，機器人的速度、i-node 的無線傳輸
半徑以及機器人迴轉半徑將決定系統的時限。

This thesis proposes a system called routing-table-based navigation system
which provides a low-cost and flexible solution for robot applications. The navigation
system uses RF devices called information nodes (i-nodes) to label critical locations
such as corridors, intersections, corners and so on in the environment and guide the
robot with navigation instruction. A use scenario describes a possible way to use the
navigation system. The thesis proposes two designs: Distributed Navigation System
(DNS) and Local Navigation System (LNS) to suit different applications. We
implement a DNS prototype which simulates i-nodes with RFID tags and a server
program. We use an open-sourced API to control the robot platform. The thesis
analyzes the real time requirement of navigation instruction execution. The deadline is
decided by the speed of robot, the radius of i-node RF range and the radius of a turn
of robot.

Table of Contents
Chapter 1.....................................................................................................1
Introduction.................................................................................................1
1.1 Motivation........................................................................................................1
1.2 Contributions....................................................................................................5
1.3 Organization.....................................................................................................7
Chapter 2.....................................................................................................8
Related works..............................................................................................8
2.1 Map-based navigation......................................................................................8
2.1.1 Local navigation scheme.....................................................................10
2.1.2 Global navigation scheme...................................................................17
2.2 Landmark-based navigation...........................................................................25
2.3 Vision-based navigation scheme....................................................................27
2.4 Comparison of existing schemes ...................................................................28
Chapter 3...................................................................................................30
Scenarios ...................................................................................................30
3.1 Components ...................................................................................................31
3.2 Use Scenarios.................................................................................................35
3.2.1 A book ordering example ....................................................................36
3.2.2 Interaction between human, server and robot .....................................39
3.2.3 System view of book ordering example..............................................42
3.3 Assumptions and requirements ......................................................................44
3.3.1 Assumptions........................................................................................44
3.3.2 Requirements ......................................................................................46
Chapter 4...................................................................................................48
Design and architecture ............................................................................48
4.1 Basic components ..........................................................................................49
4.1.1 Backbone network ..............................................................................50
4.1.2 Central server ......................................................................................52
4.1.3 Information node (i-node)...................................................................55
4.1.4 Robot...................................................................................................57
4.1.5 Navigation Instruction Finder (NIF)...................................................62
4.2 Distributed navigation system (DNS)............................................................63
4.2.1 System architecture.............................................................................63
4.2.2 i-node and robot interaction ................................................................65
4.3 Local navigation system (LNS) .....................................................................73
4.3.1 System architecture.............................................................................73
4
4.3.2 Robot and i-node interaction...............................................................75
Chapter 5...................................................................................................77
Implementation .........................................................................................77
5.1 Demo scenario ...............................................................................................78
5.2 Implementation ..............................................................................................80
Chapter 6...................................................................................................89
Workload Model Analysis.........................................................................89
Chapter 7...................................................................................................94
Summary and Future works......................................................................94
References.................................................................................................96

                                

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