臺灣博碩士論文加值系統

本文旨在一個建構自主導航的智慧輪椅系統，該系統包含定位、環境地圖建構、自主導航與避障等功能。其實現將減輕醫護人員在照顧行動不便者方面的負擔，從而釋放更多醫療資源投入到其他工作中。本文的研究工作主要分為三個部份。
第一部分是把一部簡單的電動輪椅改造成可通過外部輸入速度命令進行控制的智慧輪椅，並加裝多種感測器以感知周圍的環境訊息。
接著第二部分為使用同時定位與地圖建構(Simultaneous Localization and Mapping, SLAM)，將這些感測器的數據整合並藉由RTAB-Map (Real-Time Appearance-Based Mapping)演算法建構環境地圖。由於輪椅行駛的環境往往比簡單的室內房間更為複雜，藉由實驗證實單純使用深度攝影機或是光學雷達(Light Detection and Ranging, LiDAR)都有其各自的優缺點。結合兩者的數據，可以發揮各自的優勢，以獲得更準確和穩定的環境訊息。
第三部份的工作基於第二部分建立好的地圖，使用D* Lite演算法進行全局路徑規劃，確定到達目標點的最佳路徑。接著使用DWA (Dynamic Window Approaches)演算法進行局部路徑規劃，對目標路徑進行分段重規劃與實時調整，以解決動態避障的問題。最後本文提出的智慧輪椅系統將使行動不便者能夠自主抵達目的地，減少醫護人員的依賴，亦能在導航時展現出不錯的穩定性與安全性。

This thesis aims to construct an autonomous navigation system for a intelligent wheelchair, encompassing functions such as localization, environmental mapping, autonomous navigation, and obstacle avoidance. The implementation of this system will reduce the burden on healthcare personnel in caring for individuals with mobility impairments, thereby freeing up more medical resources for other tasks. The research is divided into three main parts.
First, a basic electric wheelchair is modified to become a intelligent wheelchair that can be controlled via externally input speed commands and equipped with various sensors to perceive surrounding environmental information.
Second, Simultaneous Localization and Mapping (SLAM) is employed to integrate the data from these sensors, with the RTAB-Map (Real-Time Appearance-Based Mapping) algorithm used to construct the environmental map. Given that the wheelchair operates in more complex environments than simple indoor rooms, experiments have shown that using only a depth camera or a Lidar (Light Detection and Ranging) has its respective advantages and disadvantages. By combining data from both sensors, we can leverage their strengths to obtain more accurate and stable environmental information.
The third part of the work builds on the map established in the second part. The D* Lite algorithm is used for global path planning to determine the optimal route to the target point. Subsequently, the Dynamic Window Approach (DWA) algorithm is employed for local path planning, allowing for segmental replanning and real-time adjustments of the target route to address dynamic obstacle avoidance.
Ultimately, the proposed intelligent wheelchair system will enable individuals with mobility impairments to reach their destinations autonomously, reducing their reliance on healthcare personnel. Additionally, the system will demonstrate good stability and safety during navigation.

摘要 i
Abstract iii
誌謝 v
目次 vi
表目次 ix
圖目次 x
第一章 緒論 1
1.1 前言與研究動機 1
1.2 文獻探討 3
1.2.1 感測器 3
1.2.2 SLAM 4
1.2.3 路徑規劃演算法 5
1.3 論文目標 7
1.4 論文架構 7
第二章 系統架構與硬體設計 9
2.1 系統架構 9
2.2 硬體介紹 10
2.2.1 馬達控制器 11
2.2.2 邊緣運算平台 12
2.2.3 深度攝影機 13
2.2.4 光學雷達 16
2.2.5 慣性測量單元 18
2.2.6 嵌入式平臺 20
2.3 電動輪椅搭建 21
2.3.1 電動輪椅控制 21
2.3.2 供電系統的設計 24
2.3.3 感測器等元件架設與輪椅整體外觀 26
2.3.4 機器人作業系統(Robot Operating System, ROS) 27
2.3.5 使用軟體與版本 29
第三章 基於RTAB-Map的SLAM建圖 30
3.1 同步 31
3.2 儲存管理機制 31
3.3 閉環檢測 32
3.3.1 圖像定位 33
3.3.2 Rehearsal 36
3.3.3 貝葉斯濾波器更新與閉環假設 37
3.3.4 轉移與取回 39
3.4 圖最佳化 39
3.5 全局地圖拼接 39
第四章 路徑規劃 40
4.1 路徑規劃流程 40
4.2 D* Lite 41
4.3 DWA(Dynamic Window Approaches) 45
第五章 實驗結果與討論 47
5.1 深度攝影機的表現比較 47
5.2 建圖成果 48
5.2.1 工程館二樓 48
5.2.2 工程館地下室 52
5.2.3 建圖結果比較 56
5.3 導航成果 57
5.3.1 工程館二樓教授辦公室外的迴廊導航結果 57
5.3.2 工程館二樓走廊導航結果 59
5.3.3 工程館地下室導航結果 60
第六章 結論與未來展望 62
6.1 結論 62
6.2 未來展望 62
參考文獻 64

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