臺灣博碩士論文加值系統

本文提出智慧型感知系統之設計概念，可應用於購物服務機器人的導航控制。其中，超音波感測系統主要用來建立及更新環境地圖，並估測環境物體與機器人之相對位置，提供沿牆導引及避障控制之環境資訊；人體紅外線感測系統則用來估測賣場環境之人群分佈，配合語音系統告知前方阻礙機器人通行之人群，將機器人欲行走之通路空出，可輔助超音波感測系統於複雜避障控制之不足；同時減少不必要的避障，並縮減避障控制之計算。此外，於購物環境之各交叉路口均可視為區域導航的子目標點，機器人只需於兩路口間之廊道進行區域避障控制即可完成導航功能，這裡，路口判斷將由近接感測系統加以實現。智慧型感知系統之控制命令係由一整合式模糊控制器進行整合，其中包括兩個子模糊控制器，分別提供目標導引及避障控制之用。由系統模擬與機器人導航實驗的結果來看，本文所提之購物機器人確實能在賣場環境中，完成各感知系統之整合並實現自走導航之控制。

This thesis presents the design concepts of the intelligent sensory system for navigation controls of a shopping service robot. In which, a sonar system is used to detect environmental information for map building/modification or obstacle avoidance controls. Besides, an infrared sensory system is used to estimate the distribution of the crowd, which aims to assist the sonar system in navigating in crowded passages by voicing and warning those who in front of the robot against staying in the possible passages. To voice and then to disperse people is an efficient way which could not only reduce unnecessary obstacle avoidance controls but also decrease the computation of the collision-free navigation. Since every intersection could be regarded as a sub-goal point in the local navigation, the robot just executes local obstacle avoidance controls between two intersections for navigation. Meanwhile, the intersection would be detected by two proximity sensors. In this thesis, the intelligent sensory system is integrated by a set of fuzzy controllers, which mainly includes two sub-fuzzy controllers; each of them provides wall following navigation and obstacle avoidance control respectively. The simulation and experimental results show that the robot is indeed capable of performing self-navigation within the shopping environment by the proposed intelligent sensory system.

摘要 iv
英文摘要 v
致謝 vi
目次 vii
圖目錄 x
表目錄 xiii
第一章 緖論 1
1.1 前言 1
1.2 研究動機與目的 3
1.3 文獻探討 5
1.4 論文架構 8
第二章 系統介紹 9
2.1 系統概述 9
2.2 系統架構 10
2.3 購物服務機器人介紹 12
2.3.1 機械結構 12
2.3.2 控制中樞 13
2.3.3 驅動系統 14
2.3.4 電源系統 15
2.4 本章總結 16
第三章 智慧型感知系統設計 17
3.1 超音波感測器 18
3.1.1 超音波簡介 19
3.1.2 超音波檢測方式介紹 20
3.1.3 超音波動作原理 22
3.1.4 超音波感測器模組簡介 24
3.2 焦電型人體紅外線感測器 29
3.2.1 紅外線輻射簡介 29
3.2.2 紅外線感測器感測原理與特性 30
3.2.3 紅外線感知器的配置 34
3.3 金屬近接感測器 35
3.4 行為感測融合 38
3.5 本章總結 40
第四章 導航控制系統 41
4.1 沿牆導引控制 43
4.2 避障控制模式 46
4.3 沿牆導引及避障之整合控制模式 47
4.4 整合式模糊控架構 48
4.4.1 模糊沿牆導引控制器 49
4.4.2 模糊避障導引控制器 51
4.4.3 整合模糊控制器 53
4.5 人群估測及路口判斷之轉向控制 54
4.5.1 人群估測之避障控制 54
4.5.2 路口判斷及轉向控制 56
4.6 本章總結 57
第五章 導航控制系統之模擬與實現 58
5.1 導航控制系統之模擬 58
5.2 導航控制系統之實現 60
5.2.1 超音波感測器量環境實驗 60
5.2.2 沿牆導引之實驗 61
5.2.3 避障導引之實驗 63
5.2.4 人群估測與避障控制實驗 69
5.3 本章總結 72
第六章 結論與未來展望 73
6.1 結論 73
6.2 未來展望 74
參考文獻 75

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