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研究生:高毓廷
研究生(外文):Gau, Yi-Ting
論文名稱:基於距離資訊之行動輔助機器人動態避障
論文名稱(外文):Dynamic Obstacle Avoidance for Robot Walking Helper Based on Distance Information
指導教授:楊谷洋楊谷洋引用關係
指導教授(外文):Young, Kuu-Young
學位類別:碩士
校院名稱:國立交通大學
系所名稱:電控工程研究所
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2012
畢業學年度:101
語文別:中文
論文頁數:89
中文關鍵詞:動態避障被動式機器人路徑規劃
外文關鍵詞:Dynamic Obstacle AvoidanceRobot Walking HelperPath Planning
相關次數:
  • 被引用被引用:5
  • 點閱點閱:428
  • 評分評分:
  • 下載下載:73
  • 收藏至我的研究室書目清單書目收藏:1
近年來,人口老化問題日益嚴重,照顧銀髮族的生活起居成為一個重要的課題,¬而在老人常見的問題中,以行動不便的問題最常發生。隨著機器人科技的進步,各式各樣的行動輔助機器人之發展越趨成熟,本實驗室也開發行動輔助機器人i-Go,以因應銀髮族生活不便的困擾。為了保障老年人在行走的安全,在本論文中,我們建構一個障礙物偵測系統,分析環境中障礙物與機器人的距離資訊,以準確地辨識出障礙物的大小、位置及移動速度等資訊。接著,我們結合Velocity Obstacles和Artificial Potential Field 兩種演算法,提出動態避障導引演算法來規畫參考路徑,根據障礙物和目標位置資訊,導引使用者閃避環境中的動態障礙物,並安全抵達指定的位置。此基於距離資訊之動態避障導引系統功能經實驗驗證,確實有其一定的功效。未來希望能夠將i-Go送入真實的家庭中,幫助正在復健且視力和行走能力較差的銀髮族,提供一個完善且安全的智慧型行動輔助機器人。
The problem of aging population becomes more serious nowadays. With their age growing, the elderly are with the degrading health conditions that may not allow them to walk steadily. Along with the progress of the robot technology, robot walking helpers have been developed. It thus motivates us to develop a robot walking helper, named i-Go for assisting the daily lives of the elderly. To protect the elderly during walking, in this thesis, we first develop an obstacle recognition system which can accurately identify the size, location and speed of the obstacles the distance information between the obstacles and robot. We then propose a dynamic obstacle avoidance and guidance algorithm, which combines velocity obstacles and artificial potential field algorithms, to provide a reference path avoids the obstacles during guidance. Experiments are performed to verify this scheme. In the near future, we expect the i-Go can assist the elderly in their daily lives.
中文摘要 I
英文摘要 II
致謝 III
目錄 IV
表目錄 VI
圖目錄 VIII

1.導論 1
1.1引言 1
1.2研究動機 2
1.3相關研究 3
1.3.1主動式行動輔助機器人 3
1.3.2被動式行動輔助機器人 5
1.3.3動態避障導引演算法 7
1.4研究目標 10
1.5論文架構 11
2.行動輔助機器人動態避障導引系統 12
2.1二維空間中行動輔助機器人之動態模型 13
2.2障礙物偵測系統 15
2.3動態避障導引演算法 22
2.4動態避障導引演算法之能力推導 27
3.系統實現 31
3.1硬體架構 33
3.1.1周邊控制晶片PIC18F4520 34
3.1.2伺服煞車器 36
3.1.3兩軸利感應器 39
3.1.4軸編碼器 41
3.1.5雷射感測器 43
4.模擬與實驗 44
4.1模擬 44
4.1.1靜態障礙物動態避障導引模擬 46
4.1.2平行移動障礙物動態避障導引模擬 50
4.1.3垂直移動障礙物動態避障導引模擬 54
4.2實驗 68
4.2.1靜態障礙物避障導引實驗 69
4.2.2平行移動障礙物避障導引實驗 73
4.2.3平行移動障礙物避障導引實驗 77
5.結論與未來展望 84
5.1結論 84
5.2未來展望 85
參考文獻 86
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