The Positioning and Moving Control for Space Guiding Robot

  • 葉 家瑋

Student thesis: Master's Thesis


In recent years the robot localization and navigation system is widely used like unmanned car automatic reversing car system…etc There are indoor localization and outdoor localization in space positioning and some of people use GPS system to locate in the outdoor environment The GPS satellite data couldn’t be received in the indoor environment so people use different sensors to locate the positions like Wi-Fi sensor RFID sensor ZigBee sensor and the Laser Range Finder which is popularly used in recent year But it cost much when using these kind of sensors to build the localization system Therefore the main purpose is to build a novel localization method in this research The method is combined with QR code and 2D plane map and store the some information in the map For example coordinates position scaling factor for the environment and the direction of North We use the camera to capture QR code which is pasted in the environment When receiving the information of QR code we use them to compare with the map to get the current location of the robot When navigation in the tile floor the robot would cause displacement moving We use Basic Stamp2 microcontroller and motor controllers to control the motors rotation in the research The HM5883L electrical compass is used to calibrate the displacement moving when the robot moving After that the robot would revise the speed of motors to solve the displacement moving problem in the tile floor
Date of Award2014 Sep 3
Original languageEnglish
SupervisorKuo-Sheng Cheng (Supervisor)

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