運用光學及超音波感測之機器人導航控制

智慧型洗地機器人必須具備在未知環境中自主完成清潔任務之能力, 目前商品化的洗地機器人並無定位及建立地圖之功能, 由於採用隨機模式而無法完整清潔環境。針對上述問題,本論文提出運用光學及超音波感測器之全方位洗地機器人架構,利用光學影像資訊完成機器人自我定位,並結合超音波資訊重建二維環境地圖,作為規劃路徑及導航控制的依據。在本論文中同時提出一個環境完整覆蓋路徑規劃方法, 利用重建之地圖判斷並規劃導航路徑, 將環境中每一區域完整覆蓋, 確實完成環境清潔任務。鑑於在電力不足的情況下,機器人需要自行返回充電站完成充電任務, 因此裝設單支CCD 攝影機進行視覺伺服定位, 完成機器人自動充電任務。此具有自我定位及地圖重建之系統,運用全方位移動之機器人於一般室內環境驗證其系統效能,搭配環境完整覆蓋路徑規劃方法,成功於室內環境自主完成清潔任務, 驗證了此系統的可行性。

關鍵字

移動型機器人；視覺伺服；路徑規劃；地圖重建；機器人導航

並列摘要

A floor washing robot must possess the autonomous cleaning ability in an unknown environment. Existing commercialized robots do not have the functions of localization and map building; therefore they can only clean the floor by using random path. For the mentioned problem, this study resents an omni-directional floor washing robot with ultrasonic and optical sensors. The mobile robot employs the optical flow and ultrasonic nformation to achieve self-localization and 2-D map building. Furthermore, the 2-D map is used for path planning and navigation. A complete coverage path planning method was proposed based on the 2-D map in order to nerate desired trajectory. As a result, the mobile robot can use 2-D map to achieve an entire cleaning task and to navigate he whole workspace. It has to return to the charging station by itself when the power is weak. The CCD camera mounted on the top of the robot is to accomplish the visual servo trol task. The proposed system has been effectively validated in an indoor environment by experimenting with the omni-directional floor washing robot.

並列關鍵字

Mobile Robot ； Visual Servoing ； Plan Planning ； Map Building ； Robot Navigation

參考文獻

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[3] Amir Pirzadeh and Wesley Snyder. A unified solution to coverage and search in explored and unexplored terrains using indirect control. In roceeding of the IEEE International Conference on Robotics Automation, volume 3, pages 2113–2119, May 1990.

[4] Howie Choset. Coverage of known spaces: The boustrophedon cellular decomposition. Journal of Autonomous Robots, 9(3):247–253, December 2000.

[8] J. S. Oh, Y. H. Choi, J. B. Park, and Y. F. Zheng. Complete coverage navigation of cleaning robots using triangular-cell-based map. IEEE Transactions on Industrial Electronics, 51(3):718–726, June 2004.

[9] S. X. Yang, C. Luo, and Q.-H. Max Meng. Area-covering operation of a cleaning robot in a dynamic environment with unforeseen obstacles. In Proceeding of IEEE International Symposium on Computational Intelligence in Robotics and Automation, volume 12, pages 1034–1039, July 2003.

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運用光學及超音波感測之機器人導航控制

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