結合射頻辨識與二維雷射尋標儀於輪型機器人之追蹤與避障

Combining RFID and 2-D SLR on the Collision Avoidance and Tracking of a Mobile Robot

溫智凱(Chih-Kai Wen)

指導教授 ： 陳建祥

國立清華大學/工學院/動力機械工程學系/碩士(2012年)

摘要

本論文規劃一台用於圖書館的智慧型機器人，它可以幫助使用者載運書籍，
也可以讓使用者隨時當椅子坐下。這台智慧型機器人是由輪型機器人、雷射測距
儀和無線射頻辨識系統所組成。此系統具有追蹤、避障、定位、禁制和判斷機器
人行動模式等五種功能。
無線射頻辨識系統是用來判斷機器人的行動模式。行動模式有五種，待命、
追蹤使用者、追蹤管理員、從禁制區回到起始點附近和在起始點附近回到起始
點。而雷射測距儀是用來獲得周遭環境的距離資料，主要用來追蹤、避障和找尋
起始點。
實驗分成三個部分：第一部分為找尋輪型機器人的馬達動態模型，把輪型機
器人的SH2 微處理器換成使用外部電路給參考訊號來建立馬達動態模型；第二
部分為使用無線射頻辨識系統判斷機器人行動模式的正確性；第三部分為使用雷
射測距儀來進行追蹤、避障、禁制和找尋起始點。最後做一個在圖書館使用此機
器人的情境模擬來做總結。

關鍵字

輪型機器人 ； 雷射測距儀 ； 無線射頻辨識系統

並列摘要

This thesis devised an intelligent robot that can be used in library. It can help the user delivering books or let the user sit on the robot as will. The intelligent robot
consists of a wheel robot, a scanning laser rangefinder (SLR) and a radio frequency identification (RFID). The system has five functions, e.g. tracking, obstacle
avoidance, positioning, restrained and mode selection.
The RFID determines the action mode of the robot. There are five action modes which are idleness, tracking the user, tracking the manager, return to the area around the initial point from restricted and return to the initial point from the area around the initial point. The SLR can obtain the environmental distance data that are used in tracking, obstacle avoidance and finding the target.
There are three parts of the experiment. The first part constructs the dynamic model of motor for the wheel robot. The SH2 microprocessor of wheel robot is replaced with an external circuit to provide the reference signal for finding the dynamic model of motor. The second part uses RFID to determine the valid robot action modes. The third part utilizes SLR for tracking, obstacle avoidance and finding
the target. Finally, the thesis uses the robot to simulate the surroundings in the library by several experiments.

並列關鍵字

mobile robot ； scanning laser rangefinder ； radio frequency identification

參考文獻

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[6] Y. Morales, A. Carballo, E. Takeuchi, A. Aburadani, and T. Tsubouchi, “Autonomous robot navigation in outdoor cluttered pedestrian walkways,” J. of Field Robotics, Vol.26, Issue 8, pp. 609-635, 2008.

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