臺灣博碩士論文加值系統

醫療的進步促成現今高齡化社會的發展，而年齡的增長造成身體機能減弱並衍生出行動不便的問題，有效的恢復年長者行動能力是相當迫切且重要的議題。目前已有許多智慧型行動輔具的相關研究，本研究以實驗室所開發之主動式行動輔具機器人做為系統平台，針對不同環境下行走時可能遭遇之動態障礙物，開發行動輔具機器人避障導引系統，協助年長者在復健的同時維護其不受動態障礙物之干擾，因此本系統根據在空曠或者狹窄空間下各個障礙物資訊和目標點位置，考慮到行動輔具動力學與使用者速度與加速度限制，透過所提出的動態避障演算法，計算出最平滑且最安全的路徑軌跡，以輔助年長者能安心推行行動輔具抵達目標位置。此基於不同環境下多障礙物資訊之路徑規劃與導引系統經實驗驗證，可以給予使用者閃避動態障礙物時的輔助，並導引年長者到達目標位置。期望未來行動輔具機器人能更廣泛運用於日常生活中，給予行動不便者更好的生活品質。

Along with medical progress, the elderly population rapidly increases. Robot walking helpers play an important role in providing safe mobility for the elders. To let it be able to move in a crowded environment and detect other pedestrians in the surroundings, we propose a control scheme with collision-free trajectory planning to govern the robot walking helper to reach the target, while avoiding the obstacles. With the conditions for collision avoidance formulated as the constraints, a feasible and comfortable collision-free trajectory is analytically expressed as an optimization problem. The path is efficient to generate a collision-free trajectory. The simulation and experiment results show that the robot walking helpers under the proposed control scheme can guide the elders to the goal effectively. Hopefully, in the near future, robot walking helpers can be widely used in daily life and help people with disabilities to enjoy a better quality of life.

第一章 導論 1
1-1 引言 1
1-2 相關研究 2
1-3 研究動機 8
1-4 研究目標 9
1-5 論文架構 9
第二章 動態避障導引系統 10
2-1 行動輔具動態模型 11
2-2 動態避障演算法 14
2-2.1 導引策略 15
2-2.2 障礙物軌跡預測 19
2-2.3 避障策略 19
2-3 輔具控制策略 26
2-4 動態避障有效性評估 27
第三章 系統實現 28
3-1 硬體架構 29
3-2 六軸力感測器 30
3-2 雷射感測器 31
3-3 直流無刷馬達 32
3-4 軸編碼器 34
3-4 筆記型電腦 35
第四章 模擬與實驗 37
4-1 模擬 37
4-1.1 模擬一：空曠環境，兩側向障礙物障礙物 38
4-1.2 模擬二：空曠環境，多障礙物不同方向而來 42
4-1.3 模擬三：狹窄環境，多障礙物閃避 46
4-2 實驗 49
4-2.1 實驗一：空曠環境，兩側向障礙物障礙物 50
4-2.1 實驗二：空曠環境，多障礙物不同方向而來 54
4-2.3 實驗三：狹窄環境，多障礙物閃避 59
4-2.4 實驗四：真實環境多障礙物閃避 65
第五章 結論與未來展望 73
5-1 結論 73
5-2 未來工作 74
參考文獻 75

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