智慧自主移動機器人應用技術介紹

Introduction of ITRI's Intelligent Autonomous Mobile Robot's Technologies

廖育萱

《機械工業雜誌》 449期 (2020/08) Pp. 45-53

摘要

因應AI人工智慧及高科技日新月異的發展趨勢，本文將針對智慧自主移動式機器人之架構與應用技術，進行機器人作業系統（ROS）起源介紹與其架構用法基礎說明，接著探討智慧自主移動機器人所使用的定位與導航技術，同時介紹工業技術研究院中機械與機電系統研究所近期所發展的一款智慧無軌式運載機器人之相關研究與應用。

關鍵字

移動式平台 ； 無人載具 ； 智慧機器人

並列摘要

Thanks to recent progress in hardware and software technologies as well as breakthrough in artificial intelligence, intelligent autonomous mobile robots can now operate more effectively in practical applications. This article introduces the architecture and application technologies of intelligent autonomous mobile robots. This includes the introduction of the origin of commonly used Robot Operating System (ROS) . Then this article gives a brief introduction of ROS architecture and its basic usage. Furthermore, we briefly explain the concept of the basic localization and navigation method used by mobile robots. Finally, this article discusses an autonomous mobile robot platform recently developed by Industrial Technology Research Institute's robotic research team.

並列關鍵字

Mobile platform ； Unmanned vehicles ； Intelligent robot

參考文獻

全球機器人聯合會 , https://ifr.org/

ROS Wiki 網站 , http://www.ros.org/

ROS Message, http://wiki.ros.org/Messages

Pose Stamped Message document, http://docs.ros.org/melodic/api/geometry_msgs/html/msg/PoseStamped.html

ROS RQT, http://wiki.ros.org/rqt