臺灣博碩士論文加值系統

本篇論文提出主動式的智慧型行走輔助機器人，來協助老年人、行動不便者以及盲人能夠輕易地使用，達到行走輔助的功能。本系統利用嵌入式系統做為行走輔助機器人的開發平台，整合了雷射測距儀、超音波感測器、握力感測器以及無線AP等感測器來建構機器人，並建立了兩個模糊決策控制器，分別控制智慧型行走輔助機器人的轉向以及前進速度。利用雷射測距儀掃描的前方環境資訊，以左、右掃描區域作為模糊轉向控制器的輸入，達到行走時閃避障礙物導航、自主式導航等功能。藉由超音波感測器得到的使用者和輔助器之間的相對距離以及前方掃描區域，對行走輔助機器人進行速度調整。在模糊控制演算法開發部分，我們記錄了使用者的操作特性，得到模糊規則的使用情況，利用支持向量機的分類功能，來調整輸入模糊集合的邊界以找出最佳分界線，來調整每條模糊規則的權重，並可以刪除不需使用到的模糊規則，以降低系統的運算量與程式開發上的複雜度。透過無線網路進行遠端監控與遠端呼叫的功能，回傳行走輔助機器人目前的馬達轉速、障礙物距離與位置等資訊。此外，為了讓使用者不需要親自到行走輔助機器人的所在位置進行使用操作，我們使用影像處理技術，擷取使用者的手勢，即可透過無線網路呼叫行走輔助機器人進行自主導航到達使用者的附近，以便操作。透過多種不同的實驗場景來驗證我們所開發的行走輔助機器人的功能。

This thesis proposes an active robotic walking-aid system which aims to provide the mobility assistance for the elderly or the disable. This system employs an embedded system and integrates various sensors. The orientation controller and the speed controller are designed using fuzzy additive model (FAM). From the forward detected area, the robotic system is able to help users navigate in unknown environments avoiding static and dynamic obstacles. To ensure the user following the guidance trajectory, the speed of robot is adjusted according to the safety distance ahead and the relative distance to the user. Besides, to solve different situations against obstacles or walls, a training stage of learning human user-adaptive characteristics is adopted. This stage employs the support vector machine (SVM) to determine the weighting scheme for each fuzzy rule which represents the adequate contribution in the system support controlling. From this stage the uses of all fuzzy rules can also be measured and such that the size of the rule base can be reduced. Through wireless communication, the operation status, including the position of robot, can be monitored by the indoor server. In this server, we also propose and implement a gesture recognition system to provide a call-and-come service for the robotic system. The service is designed to enable the robot come to user when the gesture command is correctly recognized. Experimentation and evaluation are presented to present the validity of the developed robotic system.

摘要……...……………………………………………………………………………..i
英文摘要...….………………………………………………………………………....ii
誌謝…………………………………………………….……………………………..iii
目錄..………………………………………………………………………………….iv
表目錄….…………………………………………………………………………......vi
圖目錄…………………………………………………………………………….….vii
第一章 緒論..…………………………………………………………………………1
1-1 研究動機與目的…………………………………………………………..1
1-2 文獻回顧…………………………………………………………………..2
1-3 系統設計介紹……………………………………………………………..4
1-4 章節架構…………………………………………………………………..5
第二章 概述……….………………………………………………………………….6
2-1 簡介.……………………………………………………………………….6
2-2 系統硬體架構.....………………………………………………………….7
2-3 硬體平台…………………………………………………………………..8
2-3-1 機器人實驗平台與開發介面..…………………………………….8
2-3-2 嵌入式控制器…………..……………………..………………….10
2-3-3 雷射測距儀……………………………………………………….14
2-3-4 超音波雷達……………………………………………………….17
2-3-5 握力感測器……………………………………………………….20
2-3-6 無線基地台(AP)………………………………………………….22
2-4 電源供應系統.......………………………………………………………24
第三章 系統設計與軟體實現...………………………………………………….…25
3-1 系統設計架構...…………………………………………………………25
3-2 機器人動態模型..……………………………………………………….26
3-2-1兩輪驅動機器人動態模型……….………………………………26
3-2-2左右兩輪的前向運動表示式….…………………………………28
3-3 模糊邏輯控制器設計……..…………………………………………….31
3-3-1 模糊理論介紹.……………….…………………………………..31
3-3-2 模糊轉彎控制器…………………………………………………33
3-3-3 模糊速度控制器…………………………………………………37
3-4使用者適應模糊控制設計..…..…………………………………………41
3-4-1 模糊附加模型介紹…………………..…………………………..41
3-4-2 以使用者特性為基礎的模糊附加系統…………………………43
3-5 遠端監控功能介面……………...………………………………………48
3-6 以影像為基礎的呼叫服務……...………………………………………50
第四章 實驗結果……………………………………………………………………53
4-1 實驗場景…...……………………….………………………………...…53
4-2 實際場景測試……………………….…………………………………..54
4-2-1 狹小走道環境測試………………………………………………54
4-2-2 殘障坡道環境測試………………………………………………60
4-3 呼叫服務測試…………………….……………….…………………….65
第五章 結論與未來展望……………………………………………………………69
5-1 結論…………………….…….………………………………………….69
5-2 未來展望……………….…….………………………………………….70
參考文獻……………………………………………………………………………..71

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