臺灣博碩士論文加值系統

本研究探討一追蹤與避障機器人，其結合微軟公司所研發的XBOX Kinect感測器與紅外線感測器(IR)，以達到追蹤與避障之功能。使用Kinect可以得到追蹤物的三維位置，將Kinect架設在機器人上，並與機器人的電腦相連接，再利用OpenNI C/C++ API撰寫Kinect應用程式，當Kinect接收到追蹤物的三維位置，將取得資料以模糊法則做為機器人程式追蹤目標物的依據。而IR用以防止機器人有不必要的碰撞。本研究所建立的追蹤與避障機器人包括四個主要重點，取得機器人與追蹤目標之相對座標、控制機器人與追蹤目標之相對距離、方向導正系統用以修正機器人與追蹤目標之相對方位、IR感測器防止機器人與障礙物碰撞。本研究之機器人已建立並具有追蹤且結合避障之功能。

This research studies a tracking and obstacle avoidance robot, which combines a XBOX Kinect sensor released by Microsoft Inc. and an infrared ray sensor. The robot is capable of tracking an object (a person) and avoiding an obstacle. Kinect, installed on the top of the robot, can obtain a 3D position of the tracking object. Kinect is connected to the PC of the robot via a USB cable. An OpenNI C/C++ API is used to program the Kinect application software. While Kinect receives the 3D position of the tracking object, it is sent to the robot’s computer. The data is well treated by the fuzzy algorithm to determine the tracking behavior. Meanwhile, an IR sensor is used to prevent an obstacle collision. The set-up robot consists of four main properties: (1) to acquire a relative coordinate between the robot and the target, (2) to control the relative distance between the robot and the target, (3) to modify the relative orientation between the robot and the target, (4) to avoid obstacle collision by the IR sensors. The robot equipped with Kinect and IR was established and shown its performance by a proposed control algorithm.

誌謝 I
摘要 II
Abstract III
目錄 IV
圖目錄 VI
表目錄 IX
第一章 緒論 1
1.1 前言 1
1.2 研究動機與目的 1
1.3 文獻回顧 2
1.4 論文架構 3
第二章 系統架構與軟硬體介紹 5
2.1 系統架構 5
2.2 整體設計 6
2.3 914 PC-Bot機器人 8
2.3.1 硬體規格 8
2.3.2 驅動馬達 9
2.3.3 電源系統 10
2.3.4 感測組件 12
2.3.5 開發軟體 17
2.4 Microsoft Kinect深度感測器 18
2.4.1 硬體規格 18
2.4.2 技術合作 20
2.4.3 開發軟體 21
2.5 IR 22
2.5.1 IR感測器原理 22
2.5.2 IR感測器規格 22
第三章 機器人控制策略 24
3.1 移動方法 24
3.2 座標系統 25
3.3 追蹤控制系統 26
3.3.1 模糊理論 26
3.3.2 模糊控制原理 33
3.3.3 模糊控制器設計 39
3.4 方向導正系統 44
3.5 紅外線避障感測 45
3.6 程式控制流程 46
第四章 實驗結果與測試 48
4.1 Kinect感測器追蹤試驗 48
4.2 追蹤控制系統測試 50
4.3 方向導正系統測試 52
第五章 結果與未來展望 55
5.1 結果 55
5.2 未來展望 55
參考文獻 57
附錄 60
附錄一：PC-BOT 914 I/O Board Block Diagram 60
附錄二：PC-BOT 914 Complete Wiring Block Diagram 61
附錄三：M2-ATX Installation Guide 66
附錄四：Kinect Sensor Source Code(C/C++) 71
附錄五：Tracking Robot Source Code(C#) 82

1. 邱詰淙、陳種成、鐘毅宏、沈育龍，點餐服務機器人，智慧型機器人產品創意競賽，2008
2. C. Breazeal, “Sociable Machines: Expressive Social Exchange Between Humans and Robots”, Sc.D. dissertation, Department of Electrical Engineering and Computer Science, MIT, 2000
3. H. Kwon, Y. Yoon, J.B. Park and A.C. Kak, “Person Tracking with a Mobile Robot using Two Uncalibrated Independently Moving Cameras”, IEEE International Conference on Robotics andAutomation, Barcelona , pp. 2877 - 2883, 2005
4. T. Yoshimi, M. Nishiyama, T. Sonoura, H. Nakamoto, S. Tokura, H. Sato, F.Ozaki, N. Matsuhira and H. Mizoguchi, “Development of a Person Following Robot with Vision Based Target Detection”, IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, pp. 5286 - 5291, 2006.
5. N. Hirai, H. Mizoguchi, “Visual Tracking of Human Back and Shoulder for Person Following Robot”, The Proceedings of IEEE International Conference on Advanced Intelligent Mechatronics, pp. 527-532, 2003
6. C. Y. Tsai and K. T. Song, “Face Tracking Interaction Control of a Nonholonomic Mobile Robot”, IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, pp. 3319 - 3324, 2006
7. 何昭慶，影像伺服控制與三維追蹤之研究，國立台灣科技大學電機工程系，博士論文，2008
8. Li T.-H.S, Shih-Jie Chang and Wei Tong, “Fuzzy Target Tracking Control of Autonomous Mobile Robots by Using Infrared Sensors”, IEEE Transactions on Fuzzy System, Vol.12, No.4, 2004
9. 林哲瑋，基於即時影像之模糊追隨控制，國立台北科技大學自動化科技研究所，碩士論文，2007
10. 何育昕，自動導航車之模糊追隨控制，國立台北科技大學電機工程系所，碩士論文，2005
11. M. Chueh, Au Yeung, Y .L.W, Lei K.-P.C and Joshi S.S, “Following Controller for Autonomous Mobile Robots Using Behavioral Cues”, IEEE Transactions on Industrial Electronics, Vol.55, No.8, 2008
12. Y. Nagumo, A. Ohya, “Human Following Behavior of an Autonomous Mobile Robot Using Light-Emitting Device”, IEEE International Workshop on Robot and Human Interactive Communication, pp.225-230, 2001
13. M. Kobilarov, G. Sukhatme, J. Hyams and P. Batavia, “People Tracking and Following with Mobile Robot Using an Omnidirectional Camera and a Laser”, IEEE International Conference on Robotics and Automation, pp. 557-562, 2006
14. 賴一翔，具搜尋與避障之自動跟隨機器人，國立中央大學電機工程學系，碩士論文，2009
15. 傅培耕，即時物體追蹤之立體視覺導引自走車，中原大學機械工程學系，碩士論文，2004
16. “914_PC-BOT_Extreme-Version”, White Box Robotics Inc., 2007
17. White Box Robotics Official Website, http://www.whiteboxrobotics.com
18. 陳連春，步進馬達原理與活用要訣，建興出版社，2000
19. “M2-ATX Installation Guide”, Mini-Box Inc., 2009
20. “Sharp-GP2Y0A21YK”, Sharp Corporation Inc., 2006
21. “PC-Bot_Tech_Spec-Infra-redSensorsv1.2”, White Box Robotics Inc., 2007
22. “Sharp-GP2Y0A02YK”, Sharp Corporation Inc., 2006
23. 陳文冰，跟我學Visual C# 20008，碁峰資訊股份有限公司，2008
24. “PrimeSense Reference Design 1.08”, PrimeSense Inc., 2010
25. OpenNI Organization Official Website, http://www.openni.org/
26. “NITE Controls User Guide”, PrimeSense Inc., 2010
27. L. A. Zadeh, “Fuzzy Sets”, Information and Control, Vol.8, pp.338–353, 1965
28. E.H.Mamdani,“Application of Fuzzy Algorithms for Control of Simple Dynamic Plant”, IEEE Proceedings of the Institution of Electrical Engineers, Vol.121, No.12, 1974
29. 王文俊，認識Fuzzy-第三版，全華圖書股份有限公司，2007
30. 楊英魁，Fuzzy控制，全華科技圖書股份有限公司，1992
31. 李允中、王了璠、蘇木春，全華科技圖書股份有限公司，2003
32. T.Yamakawa,“Stabilization of an Inverted Pendulum by a High-Speed Logic Controller Hardware System”, Fuzzy Sets and Systems, Vol.32, NO.2, pp.161-180, 1989
33. 王文中, 統計學與 Excel 資料分析之實習應用<第五版>, 博碩文化股份有限公司, 2004.
34. 何治鋒，深度感測器應用於追蹤機器人之研究，國立勤益科技大學機械工程系，碩士論文，2011