臺灣博碩士論文加值系統

近年來，由於世界各國都積極投入機器人的研發，也成它a運用在釵h領域上，如工廠自動化、醫院自動化、軍事、娛樂、太空探險、服務系統以及代替人類在危險地區工作等等，但是機器人如何在未知的外在環境裡正確地移動到使用者所指定之目的地而不會在過程中碰撞到靜態或動態障礙物是一個非常基本且重要的主題。
本論文目標為發展居家醫療看護機器人”HomMed Robot”之運動規劃，機器人可由本身架設之儀器而達到多項弁遄A如避障弁遄A並安全的完成任務。利用作者所編撰的軟體架構可以同時得到釵h相關的資料，如機器人本身在環境中的及時定位，航行過之軌跡路徑圖，並可以由及時記錄軌跡路徑圖清楚地知道機器人位於環境中的某位置和方向。作者也利用雷射測距儀提出一套避障之演算法，在動態環境裡達到避障之弁遄C最後，我們己經成它a展示出避障模式和運動控制系統。
在論文的最後，為了使用者的便利，我們也提供了行為控制和直接控制的兩種模式，以方便使用者用圖控或是命令的方式來靈活操控機器人，我們也使用行動機器人來實現此一套智慧型運動控制系統，並成永狻僑撮z型運動控制系統的可行性及可靠性，且展現出此機器人能順利且平滑的行走。

Recently, the internet based robotic systems have been successfully applied to factory automation, dangerous environments, hospitals, entertainment, space exploration, farmland, military, service, etc. Users can easily know what happens and control the situation through remote supervisory control interface of a robot system. Internet based control systems can take all advantages of the multimedia communication and worldwide features, but the shared bandwidth due to the public feature and uncertain latency may cause the system failure and unstable on task performance.
The objective of this thesis is to develop the motion planning for Home-care medical robot, which achieve multiple functions to complete the tasks safely based on multiple sensors. We have developed software structure of real-time localization and trajectory path sketch. The information about the position and orientation of the robot can be acquired from trajectory path sketch. In this paper an obstacle avoidance algorithm using LRF (Laser Range Finder) for the robot to avoid obstacle in the dynamic environment has been developed. We have successfully demonstrated the modes of obstacle avoidance and the motion control system.
Finally, it is more convenient and efficient for operators to control an medical robot by selecting behavior control mode or direct control mode on the interface with GUI or human-language-like commands. The system is implemented on our autonomous mobile robot, and these experimental results demonstrate the reliability and flexibility.

誌 謝……………………………………………………………………………….i
中文摘要………………………………………………………………………………ii
Abstract……………………………………………………………………………….iii
Table of Contents……………………………………………………………………..iv
List of Figures………………………………………………………………………..vi
List of Tables………………………………………………………………………...viii
Chapter 1 Introduction……………………………………………………………...…1
1.1 Motivation………………………………………………………………...…1
1.2 Objectives.………………………………………………………………...…3
1.3 Major Issues and Challenges.………………………………………………..4
1.4 Thesis Organization………………………………………………………….5
Chapter 2 Literature Review…………………………………………………………..6
2.1 Review of Motion Planning…………………………………………………6
2.1.1 Global Path Planning………………………………………………….7
2.1.2 Local Path Planning…………………………………………………...9
2.1.3 Smooth Path Planning………………………………………………..13
2.2 Review of Obstacle Avoidance System for Mobile Robot………………..14
2.2.1 Modes of Sensory System for Obstacle Avoidance………………….17
2.2.2 The Variety of Objects for Obstacle Avoidance……………………...23
2.3 Review of Intelligent Medical Robot System……………………………...29
2.3.1 Talking Cuddling Robot for Elderly of Ifbot…………………………30
2.3.2 A Medical and Surgical Robot of HOSPI……………………………31
Chapter 3 System Architecture of the HomMed Robot……………………………35
3.1 Introduction………………………………………………………..……….35
3.2 Main Control and Architecture……………………………………………..37
3.2.1 Hardware Architecture……………………………………….………37
3.2.2 Software Architecture……………………………………...…………38
3.3 Sensory System……………………………………………………….……40
3.3.1 Ultrasonic Sensor Detection……………………………….…………41
3.3.2 CCD Sensor Detection……………………………………………….42
3.3.3 3D Laser Range Finder Sensor Detection……………………………42
3.4 Communication System……………………………………………………52
3.4.1 Wireless LAN……………………………………………………..….52
3.4.2 IPC (Inter-Process Communication)…………………………………53
3.5 Motion Control System…………………………………………………..54
3.6 Power System………………………………………………………………58
Chapter 4 Motion Planning System for Obstacle Avoidance of the HomMed Robot..62
4.1 Introduction………………………………………………………………...62
4.2 Coordinate System……………………………………………………….63
4.3 Localization System. ………………………………………………………66
4.4 Motion Control Agent……………………………………………….......…71
4.4.1 Command Control……………………………………………………73
4.4.2 Velocity Control……………………………………………………74
4.5 Obstacle Avoidance System………………………………………………..75
4.6 Applications of Obstacle Avoidance………………………………….........80
4.6.1 Scenario for Narrow Corridor Environment…………………............81
4.6.2 Scenario for N-type environment.........................................................82
4.6.3 Scenario for moving obstacle environment..........................................83
Chapter 5 Experimental Results…………………………………………………….84
5.1 Static Collision Avoidance…………………………………………………84
5.1.1 Narrow Corridor Environment……………………………………….85
5.1.2 N-type Environment………………………………………………….87
5.2 Dynamic Collision Avoidance……………………………………………...90
5.2.1 Moving Obstacle Environment……………………………………....90
Chapter 6 Conclusion and Future Works…………………………………………….93
Chapter 7 Contributions……………………………………………………………...94
Reference …………………………………………………………………………….95
Appendix A…………………………………………………..………………………99

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