以行動裝置感測器融合為基礎的機器人移動控制方式

The methodology of a robot motion control based on IMU sensor fusion of a smart device

陳昇宏(Sheng-Hong Chen)

指導教授 ： 陳國益

國立虎尾科技大學/電機資訊學院/資訊工程系碩士班/碩士(2017年)

摘要

現今社會當中，已經有越來越多的領域需要使用到機器人來提供服務以及幫助，例如：室內導航、自動生產線、老人照護等等這些領域都需要機器人來輔助。而在機器人控制領域當中，為了控制機器人能夠準確的移動到一個指定的位置，機器人的運動方向與機器人的移動距離是一個非常重要的問題。如果機器人的移動距離可以精準的被估測，機器人的位置就能準確地計算出來。
一般而言傳統機器人的移動距離通常可以透過感測器來取得，但透過感測器資料運算取得移動距離的方法存在了以下的幾個問題，像是：感測器與MCU（Micro-Control Unit）間的複雜連接、控制匯流排與獨立驅動需求、每個感測器皆需要校正、低感測器擷取速率與困難的程式撰寫等等都是傳統機器人面臨到的問題。
為了改進這些現存問題，我們在本研究當中提出了一個以IMU（Inertial measurement unit）為基礎的控制策略，並且使用行動裝置(例如：Android或者iOS智慧型手機)當中所含的IMU感測器，來取代使用MCU驅動的感測器，用以改善傳統機器人所面臨的問題。藉由感測器與平台的整合方式，相較於傳統獨立執行方式會有更明顯的改善。而我們所提出的這種方式，不僅減少了平台的成本花費與複雜的裝置驅動和連接，也提高了機器人控制程序撰寫的方便性。

關鍵字

機器人控制 ； Android 系統 ； 慣性測量單元 ； 行動裝置

並列摘要

In nowadays, there are more domains which robots could provide service. For example, indoor navigation, automatic production line, elderly care, and so on. It is worth noting that in the field of robot control, to fetch the movement of a robot is the major concern. Moreover, there is another important issue, to get the movement direction for the robot to move to particular position the movement distance. Once we get the accurate robot movement distance, we are able to get its accurate position.
In general, robot movement distance could obtained by the output of sensors. Nevertheless, there are still problems for obtaining movement distance by sensors, such as complex connection between sensors and microcontrollers, difficult works on control the sensor, independent drivers of the sensors, sensor calibration, the low frequency of sensor outputs, complicated programming, and so on.
In order to improve this issue, we propose a new technique for the purpose of solving these problems – An IMU-based robot control strategy. We use the sensors which are inside mobile devices instead of traditional sensor development by microcontrollers. Compared to traditional methodology, our performance is much better on the integration of sensors and the platform, and the proposed method not only improve the development of the system, but also reduces the cost of system as well.

並列關鍵字

Robot control ； Android systems ； inertial measurement unit ； mobile devices

參考文獻

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