- 學位論文
基於雙超音波傳感器之跟隨機器人控制
Two Ultrasonic Sensors Based Human-Following Robot Control
摘要
近年來，人力資源短缺人口成本增加，自動化機器人成為熱門的研究項目，許多工廠、倉儲紛紛開始採用自動化機器人來取代人類，而其中的跟隨機器人在商用、醫療、生產等方面都能有很好的應用 本論文的目的是提出一個藉由判斷遙控器發送的超音波訊號來源方向，讓機器人能夠穩定平滑的跟隨人的控制方法，相比於影像辨識的跟隨方式，擁有更高的穩定性，不易受到光線和天氣的影響。如果跟隨機器人要在市場上有競爭力，在不影響性能的情況下減少成本是重要的，本論文只是用了兩個超音波傳感器接收訊號，用以判斷操作者的方位，並再機器人周圍用八個紅外線傳感器來感測周圍障礙物的距離及方位， CPU讀取感測器接收信號的結果後，便能經過演算法正確的判斷當前機器人該執行什麼動作。 實驗結果顯示，不論在空曠還是複雜的環境下都能平穩地跟隨使用者，機器人能避開障礙物，與障礙物間的保持一定安全的距離行走，並且盡可能地走近路，避免繞遠路。
並列摘要
In recent years, the lack of human resources has raised the cost of human labor, making research on automatic robots more valued than ever. Lots of factories and warehouses are starting to replace human forces with automatic robots. Among those are the following robots which can have good applications in fields of business, medicine, and manufacture. This thesis aims to propose a method of controlling the mobile robot to follow people steadily and smoothly by recognizing the origin of ultrasonic signals sent by a remote. Compared to image recognition, ultrasonic signal has higher stability and is affected little by conditions like lighting and weather. To become highly competitive on the market, keeping the cost down without loss of performance is important. To reduce the cost, the research installed only two ultrasonic sensors for receiving signals to discern the location of the user, and eight infrared sensors around the mobile robot to measure both the distance and position of the obstacles near it. Once the CPU reads the results produced by the sensors receiving the signals, with the algorithm, the mobile robot can correctly determine which actions it should make next. According to the experiment results, the mobile robot can follow the user fluidly in both open space and complex environment. The mobile robot can not only avoid obstacles by maintaining a safe distance away from them, but also follow the shortest route instead of going the long way around.