設計室內分區與Wiimote定位技術之吸塵器機器人

Design of Map Decomposition and Wiimote-based Localization for Vacuuming Robots

郭家賓(Chia-Pin Kuo)

指導教授 ： 黃士殷

元智大學/資訊學院/資訊工程學系/碩士(2008年)

https://doi.org/10.6838/YZU.2008.00098

摘要

智慧型機器人在最近幾年來一直是各國發展的重點目標之一，隨著經濟復甦，人民生活水準提高，加上高齡、少子化社會的到來，以服務為導向的機器人相關產業也越來越受到重視，其中家用型吸塵器機器人就是一例，繁忙的現代人可以利用它們幫我們省下許多打掃時間，而且操作簡單方便使用，功能也相當多樣。而目前市面上的吸塵器機器人普遍缺點是清掃路徑容易重覆導致死角產生，以及缺少地圖資訊作輔助，無法達到完整的環境清潔。本論文利用Wiimote攝影機搭配紅外線（Infrared, IR）定位技術來協助吸塵器機器人判別位置，以便進行區域清掃與障礙物閃躲等，並且搭配牛耕式（Boustrophedon）來回清掃的演算法加上電子羅盤來輔助校正方位藉此簡化整體行走路徑以提高工作效能，更以搭載室內地圖的建立方式達到分區清掃的目的，讓系統能夠動態且完整地規劃清掃路線。使用者方面也可以透過無線網路遠端監控並操作機器人來完成我們所需的工作。

關鍵字

吸塵器機器人；牛耕演算法；紅外線（IR）；Wiimote；電子羅盤；地圖分區

並列摘要

Intelligent robot developments have become more and more popular in recent years. Many countries such as US and Japan, which they have already begun this kind of research decades ago. With the growth of economic bring higher living standard. More robotic applications will be toward home service oriented. One of these service robots is vacuuming robot. It is very easy and convenient to use for house cleaning. But most of them do not seem to work efficiently. The common drawbacks they have are repeated cleaning path, lack of map information, and more power consumption. The paper propose a good infrared（IR）localization equipped with the Wiimote camera to support position on vacuuming robot. They can use position information to dodge obstacles accurately and clean assigned area. Succinct cleaning path based on Boustrophedon algorithm and digital compass. Boustrophedon help vacuuming robot to move in back and forth motion, and digital compass also corrects the robot’s moving directions. In addition, embedded map decomposition algorithm simplifies cleaning area and increase working efficiency. Finally, users can monitor or operate the vacuuming robot through wireless to complete their tasks.

並列關鍵字

Vacuuming Robot ； Boustrophedon ； IR ； Wiimote ； Digital Compass ； Map Decomposition

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