基於多動態障礙物之被動式行動輔助機器人路徑規劃與導引系統開發

Path Planning and Guidance for Passive Robot Walking Helper Based on Multiple Dynamic Obstacles

吳秉祐(Ping-Yu Wu)

指導教授 ： 楊谷洋

國立交通大學/電機學院/電機與控制工程系所/碩士(2019年)

摘要

隨著台灣老年人口於2018年突破總人口數14%，正式進入高齡社會，如何照護老年人的生活起居成為日趨重要的課題，其中因老化導致行動不便為最常見的問題之一。由於機器人科技的進步，越來越多行動輔助機器人的相關研究被提出，以有效提升老年人的行動能力，本研究以實驗室所開發的被動式行動輔助機器人做為系統平台，針對行走時可能遭遇之動態障礙物，開發行動輔助機器人避障導引系統，考量到一般生活環境之複雜性，面對多障礙物的閃避是可預期的情況，因此本系統根據各個障礙物資訊和目標點位置，透過所提出的動態避障演算法，計算整合出閃避障礙物所需之左、右輪煞車力矩，以輔助使用者安全抵達目標位置。此基於多障礙物資訊之路徑規劃與導引系統經實驗驗證，可以給予使用者閃避障礙物時的輔助，並導引使用者到達目標點。期望未來行動輔助機器人能更廣泛的用於日常生活中，給予行動不便者更好的生活品質。

關鍵字

行動輔具 ； 動態避障 ； 路徑規劃

並列摘要

With the advancement of medical technology, the elder population in our society is increasing rapidly. As the elderly aging, they often face the problem of inconvenience in movement. As a result, many walking assistive devices have been developed to help the elderly to enhance the mobility. In this thesis, we develop a path planning and guidance system based on a passive robot walking helper, i-Go, developed in our laboratory. Considering the environment in daily life, multiple dynamic obstacles are expected. To protect the elderly in walking, we propose a dynamic obstacle avoidance algorithm. According to the information of the obstacles and the target location, the system can find the braking torques required to avoid all obstacles, and guide the user to the target point. Experiments are conducted to verify that the proposed algorithm is able to make robot walking helper avoid obstacles in the environment. Hope that in the future, robot walking helpers can be widely used in daily life and help people with limited mobility to get a better quality of life.

並列關鍵字

Passive robot walking helper ； Receding horizon control ； Obstacle avoidance

參考文獻

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