基於雜訊消除之跟隨機器人控制設計

Noise-Cancellation Based Human-Following Robot Control Design

蔡昊書(Hao-Shu Tsai)

指導教授 ： 吳俊德

國立暨南國際大學/科技學院/電機工程學系/碩士(2018年)

摘要

在現今的社會中，人們投入愈來愈大量的機器人去完成生活周遭的事情，機器人產業是已開發國家工業化的重要標誌，在勞動力成本不斷上升和機器人製造門檻日趨下降的大背景下，機器人及智慧裝備產業的發展愈來愈受到社會各界的廣泛關注。其中就以跟隨人機器人為本論文的研究主題，目前使用超音波感測器來偵測使用者的位置然後進行跟隨，如果行進中遇到障礙物則使用紅外線感測器來避開障礙物。由於所使用的感測器比較容易受到雜訊影響，所以其抗干擾能力並不理想，使得跟隨人機器人無法有效率的運作。
本論文針對此問題，提出一種方法，將超音波感測器接收到訊號經過處理及分析，藉此分出不同的超音波來源，避免超音波彼此干擾。最後，實驗結果顯示跟隨機器人可以於兩者不同頻率的超音波訊號中分辨其應該跟隨的超音波來源，而且有效率地避開障礙物。

關鍵字

移動機器人 ； 紅外線感測器 ； 人員跟隨 ； 避障

並列摘要

In today's society, people are investing more and more robots to complete things of the life around them. The robot industry is an important symbol of the industrialization of the developed country. Under the background of rising labor costs and the ever-decreasing threshold of robot manufacturing, the development of the robot and smart equipment industry has received increasing attention from all walks of life. Among them, the research topics of the thesis are focus on human- following robots. Ultrasonic sensors are currently used to detect the position of the user and then follow. If an obstacle is encountered during operation, an infrared sensor is used to avoid obstacles. Since the sensors used are relatively susceptible to noise, their anti-interference capability is not great, making it impossible for the following robots to operate efficiently.
This thesis proposed a method to solve this problem. To receive signals by ultrasonic sensor through processing and analysis. So as to separate out different ultrasonic sources, to avoid the ultrasonic waves interfering with each other. Finally, the experimental results prove that the human-following robot can distinguish the ultrasound sources it should follow in different frequencies and effectively avoid the obstacles.

並列關鍵字

Mobile Robot ； Infrared sensor ； human-following ； Obstacle avoidance

參考文獻

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