俱三維同時定位及建地圖功能之直立式爬樓梯智慧機器人應用於室內多樓層服務

Erect Stair Climbing Robot with 3D SLAM for Indoor Cross-Floor Services

劉哲瑋(Che-Wei Liu)

指導教授 ： 羅仁權

共同指導教授 ： 張帆人(Fan-ren Chang)

國立臺灣大學/電機資訊學院/電機工程學研究所/碩士(2014年)

https://doi.org/10.6342/NTU.2014.11292

摘要

在最近幾年，服務型機器人是一個非常流行的研究主題在機器人的領域。而現在有很多室內服務機器人已經被開發出來。但大多數這些服務機器人只能在單一樓層且只能在平坦地面執行任務。因此，我們實驗室已經設計出了一個室內爬樓梯機器人，可以在平坦的地面上平穩地移動像室內輪型機器人，並具有上下樓梯的能力。
在之前的研究中，我們已經測試了上樓梯的能力，並提出了一個上樓梯的樓梯識別算法。然而對於爬樓梯機器人進行室內多樓層的服務這是不夠的。為了進行室內多樓層的服務，爬樓梯機器人必須俱備一些基本的能力。 1）能夠行走於平整的地面。 2）能夠上下樓梯。 3）能夠識別樓梯。
在這篇論文中，我們完成了之前還沒做到的部分。首先，我們測試下樓梯的能力並且使爬樓梯機器人比以前能夠更穩定的爬樓梯。其次，除了上樓梯的樓梯識別算法，我們還完成下樓梯的樓梯識別算法。最後，我們提出了一個3D的SLAM（同時建地圖並定位）演算法可以同時記錄樓梯模型的參數。
綜上所述，我們分別實現爬樓梯機器人進行室內多樓層的服務的基本能力。這對於爬樓梯機器人來說是非常重要的。而我們希望在未來爬樓梯機器人能夠基於這些基本能力進行更多的應用。

關鍵字

爬樓梯機器人 ； 服務型機器人 ； 3D同時建地圖並定位 ； 系統設計整合 ； 樓梯辨識

並列摘要

Service robot becomes more important issues in recent years. There are many indoor service robots have been developed. Most of those service robots only can perform tasks on the single floor and on the flat ground. Therefore, we develop an indoor climbing robot that can move smoothly on the flat ground like indoor mobile robot and have ability of climbing up and down stairs.
In previous work, we test the ability of climbing up stair and propose an up-stair recognition algorithm. However, it is not enough for stair climbing robot to perform indoor cross-floor services. In order to perform indoor cross-floor services, stair climbing robot must have some basic abilities. 1) ability to travel around on the flat ground. 2) ability to climbing up and down stairs. 3) ability to recognize stairs.
In this thesis, we complete tasks that have not been done before. First, we test ability of climbing down stairs and make stair climbing robot to climb stairs more stable than ever. Second, besides up-stair recognition algorithm, we also complete down-stair recognition algorithm. Finally, we propose a 3D SLAM (Simultaneous Localization and Mapping) algorithm with information of parameters of stair model.
In summary, we achieve basic abilities for stair climbing robot to perform indoor cross-floor services separately. It is very significant for stair climbing robot. We hope that we can make stair climbing robot to perform more applications in the future based on those basic abilities.

並列關鍵字

stair climbing robot ； service robot ； 3D SLAM ； system integration ； stair recognition

參考文獻

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