機器人之窄通道沿牆控制

Narrow-Tunnel Wall-Following Control Design for Mobile Robot

王皓暄(Hao-Hsuan Wang)

指導教授 ： 吳俊德

國立暨南國際大學/科技學院/電機工程學系/碩士(2019年)

https://doi.org/10.6837/ncnu201900045

摘要

近年來，減少人力資源和勞動力成為全球發展的一個關鍵問題，對於自動化製造的需求不斷增加。世界各大公司也開始投資自動化相關產業，由於台灣是世界著名的代工國家，對自動化設施的要求也產生了對自動化機器人的需求。與此同時，機器人行業成為一個熱門話題。所以本論文以避障機器人如何在狹窄通道內行走作為主題，由於機器人的傳感器和算法對於這個問題至關重要，於是本論文提出一種方法能讓機器人利用紅外線感測器來進行避障和進入較為狹窄通道的演算法，機器人在進入隧道時將會利用紅外線感測器的探測來順利在隧道內行進，實驗結果顯示機器人能夠有效在隧道內行走並安全出入隧道。

關鍵字

移動機器人 ； 隧道 ； 避障 ； 紅外線感測器

並列摘要

In recent years, reduce human labor force become a critical issue worldwide. There has been an increase need for automated manufacturing. Major companies around the world have also begun to invest in automation-related industries. Since Taiwan is a famous foundry country in the world, the requirements for automated facilities have also created the demand for automated robots. In the meantime, robot industry become a popular topic. In order to let the robot can move freely in any terrain. Sensor and algorithm of robot is crucial for this problem. This thesis propose a new algorithm for robot to enter a narrower tunnel then previous version.

並列關鍵字

Robot ； Tunnel ； Obstacle Avoidance ； Follow Wall

參考文獻

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