購物助手型機器人

服務型機器人的發展是為了給予人類更舒適便利的生活，目標是不論人類走到哪裡，機器人都能提供服務。在那之前，機器人應該具備與人適當互動以及在環境順暢移動的能力。這篇論文要發展的是一個結合了行動式機器人了解周遭環境技術與處理人機互動演算法的系統。我們用SLAMMOT使機器人了解環境與掌握自身位置，搭配上DAO*路徑規劃演算法，機器人能夠隨時提供環境資訊給使用者，並在商場裡為使用者導引路線。追蹤顏色分布的演算法則被使用來讓機器人能夠辨識其使用者的穿著，使其可以跟著特定使用者穿梭各地。本篇論文也提出一種快速且能濾掉高頻雜訊的跟隨演算法，利用阻抗控制給予機器人速度指令，使其能簡易地追到目標物體，這個演算法同時具有良好的未來發展性，能根據不同的環境條件增加新的阻抗關係到演算法內，達到與多人環境互動的效果。

關鍵字

感測器資訊融合；融合追蹤；跟隨；阻抗控制；行動式機器人

並列摘要

Service robots are built for making people more convenient and more comfortable. Robots provide services to people wherever humans go. Before that, robot should be capable to interact with people appropriately and move in the surroundings smoothly. This thesis attempts to develop a system which combines mobile robot techniques of understanding knowledge of surrounding environments and algorithms that deal with human robot interaction. SLAMMOT is used on understanding environments and localizing itself. By using SLAMMOT and DAO* planning algorithm, the robot can provide environment information to users anytime and guide for them. The Color-based Particle Filter algorithm is implemented for recognizing the user’s dressing, so that it can follow specific user anywhere. This thesis also proposes an effective following algorithm which can filter high-frequency noises. Impedance control is used to give velocity commands to robots. This algorithm is sustainable. It can be improved by adding new terms into it when the environment conditions are different.

並列關鍵字

Sensor Fusion ； Tracking ； Following ； Impedance Control ； Mobile Robot

參考文獻

[4] S. S. Blackman, "Multiple Hypothesis Tracking for Multiple Target Tracking," IEEE Aerospace and Electronic Systems Magazine, Vol. 19, No. 1, pp. 5-18, 2004.

[6] M. Bosse and R. Zlot, "Map Matching and Data Association for Large-Scale Two-dimensional Laser Scan-based SLAM," International Journal of Robotics Research, Vol. 27, No. 6, pp. 667-691, 2008.

[8] P. P. Chakrabarti, S. Ghose, and S. C. DeSarkar, "Admissibility of AO* When Heuristics Overestimate," Artificial Intelligence, Vol. 34, No. 1, pp. 97-113, 1987.

[10] M. Y. Cheng, M. C. Tsai, and C. Y. Sun, "Dynamic Visual Tracking Based on Multiple Feature Matching and G–H filter," Advanced Robotics, Vol. 20, No. 12, pp. 1401-1423, 2006.

[12] S. Y. Chung and H. P. Huang, "SLAMMOT-SP: Simultaneous SLAMMOT and Scene Prediction," Advanced Robotics, Vol. 24, No. 7, pp. 979-1002, 2010.

國際替代計量

購物助手型機器人

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