第四章 實驗設計及結果分析
4.5 實驗結果討論
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立 政 治 大 學
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N a tio na
l C h engchi U ni ve rs it y
具有的慣性及速度這兩點因素存在。
雖然在路徑跟隨之導航控制方面本研究所提之方法仍有進步的空間，但 就任務整體系統而言，本研究所提之方法能以一定的穩定度及可靠性完成無人 機的直立柱狀建築物的自主環繞檢視。本研究之兩個評估指標顯示出無人機具 有一定程度的感官認知和行為動作，並且以足夠高的成功率來實現近乎全自動 的自主建築物檢視任務。而這有一部分歸因於行為樹，它既是有用的設計平 台，又是有效的控制體系結構。使用行為樹作為設計平台，我們可以在明確的 邏輯結構中簡單的定義出任務所需之活動和任務過程。而使用行為樹作為控制 體系之結構，系統可以很快速的根據當前任務之目標，偵測並判斷當前環境並 做出因應之行為。整體來說，行為樹提供了能針對特定任務應用的自主程序來 開發自主系統之主要技術框架。
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做為環繞目標時，ORB-SLAM 也會出現難以取得目標物之特徵的情 況產生，在未來可以嘗試使用其他類型的 SLAM 或是利用具有深度‧
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