臺灣博碩士論文加值系統

本論文討論從我們實驗室發展出的居家服務型機器人May身上實現人類跟隨功能。為了確實跟隨操作者，影像追蹤的部分由Kinect骨架與TLD (Tracking-Learning-Detection)協同組成，TLD負責重新偵測操作者被阻擋或消失於機器人的視野後再現的情況；一般無遮蔽的狀況由Kinect骨架主要追蹤，TLD學習擴大操作者影像的資料庫，以增加重新偵測的成功率。為了使追蹤系統更完善，影像追蹤加入模糊頭部運動控制，以補足May的底盤移動無法及時反應追蹤操作者。透過模糊控制，操作者瞬間快速的移動皆能被及時捕捉到。Q-learning被應用於探索底盤姿態轉換的能力使May具有更強健的跟隨功能。Q-learning的部分，狀態的設定基於三維空間中的位置、動作則是各項四輪獨立轉向四輪獨立驅動(4WIS4WID)的姿態，而動作的獎賞則是建立在狀態的轉換。最後經由實驗室的實驗結果與RoboCup 2013日本公開賽居家組的跟隨任務比賽，證明本文提出的架構能讓機器人學習如何順暢切換姿態以跟隨使用者並在此競賽項目取得優異的成績。

This thesis mainly implements human following function for home service robot, May, developed in our laboratory. In order to follow the operator accurately, visual tracking is composed by Tracking-Learning-Detection (TLD) and Kinect skeleton, where TLD plays the role as re-detecting the situation that operator is occluded or disappeared, and Kinect skeleton is adopted to track all other situations while TLD is learning how to enlarge operator image patterns in order to enhance recognition rates. For the sake of improving tracking capability, fuzzy head motion control is added in the visual tracking system to compensate the constraints that the mobile platform of May cannot react rapidly. Every instant movement of the operator can be captured by fuzzy head motion control in real time. Q-learning is applied to discover the pose switching of the mobile platform such that May possesses more robust following ability. By Q-learning, states setting are based on three dimensional position, actions are created by the pose of four wheel independent steering and four wheel independent driven (4WIS4WID) platform, and rewards are established on state transitions. Finally, both the experimental results in the laboratory and competition consequents of Follow Me Mission in robot@home league at RoboCup Japan Open 2013 Tokyo demonstrate that our robot May can fluently switch its poses to follow operator by utilizing the proposed schemes.

Abstract I
Acknowledgement III
Contents IV
List of Figures VI
List of Tables VIII
Chapter 1. Introduction 1
1.1 Motivation 1
1.2 Hardware and Software 2
1.3 Thesis Organization 6
Chapter 2. The Construction of Tracking-Learning-Detection System 8
2.1 Introduction 8
2.2 Tracking 9
2.2.1 Lucas-Kanade Method 10
2.2.2 Filtering Criterion 14
2.3 Learning 17
2.4 Detection 21
2.4.1 Features 22
2.4.2 Random Fern Classifier 25
2.5 Experimental Results 26
Chapter 3. Motion Control of Fuzzy Head and Q-learning Wheel 29
3.1 Introduction 29
3.2 Fuzzy Head Motion Control 31
3.2.1 Problem Statement 32
3.2.2 Fuzzification Interface 34
3.2.3 Decision Making Logic 35
3.2.4 Defuzzification Interface 36
3.3 Q-learning Wheel Motion Control 38
3.3.1 Instantaneous Center of Rotation 38
3.3.2 Q-learning Controller 43
3.4 Experimental Results 50
Chapter 4. Control Strategy for Human Following 53
4.1 Introduction 53
4.2 The rule of RoboCup 2013 Japan Open @Home Follow Me 54
4.3 Strategy System 57
4.4 Experimental Results 63
Chapter 5. Conclusion and Future Work 67
5.1 Conclusion 67
5.2 Future Work 68
Reference 70
Biography 74

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