智慧避障導覽機器人之研究

A Study on a Guidance Robot with Intelligent Obstacle Avoidance

俞牧之(Mu-Jhih Yu)

指導教授 ： 陳冠宇

中原大學/工學院/機械工程研究所/碩士(2010年)

https://doi.org/10.6840/cycu201000706

摘要

本文的研究目的在設計並發展具備智慧避障功能之導覽機器人，採用開放式模組化結構設計系統，主要包括避障及展場導覽兩個部分。本文使用CCD攝影機及超音波感測器兩種感測系統截取環境資訊，雙CCD立體視覺公式得知目標物位置，超音波感測器可量測範圍一公尺內的物體，使機器人能夠順利避開障礙物完成展場導覽。本實驗設計兩項實驗測試並驗證機器人的基本避障及展場導覽功能，最後再將兩項功能作結合。由實驗結果顯示，本文提出的智慧避障功能之導覽系統，能成功使機器人自主完成展場導覽及閃避障礙物的任務，在長10公尺及寬6m的長方形範圍裡完成任務所需之時間約為4分鐘。

關鍵字

智慧避障導覽機器人之研究

並列摘要

The subject of this dissertation is to design and develop an intelligent obstacle avoidance for a guidance robot using open modular structure. Here, the proposed control system may be divided into two parts. One is the obstacle avoidance system and the other is the guidance system. Measuring the environment information by CCD camera and two ultrasonic sensors, collocating stereo vision system to obtain the object's position, ultrasonic sensors can measure object in one meter , measuring guidance and obstacle objects effectively can evaluate the distance and location of obstacles to let the robot successfully avoid obstacles. The experiment results show that the robot can proposed successfully accomplish the exhibit field guidance and obstacle avoidance mission by using the guidance system with the intelligent obstacle avoidance. The totally route is about 10 meters in length and 6 meters in width and the guide mission completed time is about 4 minutes.

並列關鍵字

A Study on a Guidance Robot with Intelligent Obstacle Avoidance

參考文獻

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