多移動障礙物閃避之機器人運動規劃與控制

Motion planning and control of robot for multiple moving obstacles avoidance

陳緯峻(Wei-Chun Chen)

指導教授 ： 柯春旭

義守大學/電機資訊學院/電機工程學系/碩士(2020年)

摘要

隨著科技日新月異，機器人技術不管是在科技業、傳統工業甚至是在日常生活中，幫助人們解決了許多大大小小的問題，也正是因為這樣，如今，機器人已經逐漸成為人們不可或缺的夥伴，以安全方面來說，機器人在運作的過程中，有可能會碰撞到障礙物，導致機器人在硬體方面的損毀或是使用者可能會受傷，為了避免這些事情發生，因此尋找最佳的移動軌跡及多移動障礙物的閃避策略更有效率的方法為本論文探討的主題。
本論文所提出的方法能夠預估機器人與移動障礙物的碰撞時間區段，並應用碰撞時間區段判斷機器人是要快速通過障礙物的移動範圍，還是等待障礙物遠離了機器人在通過該範圍，應用最佳化方法進行時間規劃，再依照時間規劃依序閃避移動障礙物，而當無法利用時間規劃來閃避障礙物時，則另尋路徑點並規劃一條無碰撞軌跡，藉此來閃避移動障礙物，最後將模擬的結果顯示，確認機器人可以用時間規劃或是修改移動軌跡來閃避移動障礙物，並準確的到達目標點。

關鍵字

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並列摘要

With the rapid development of technology, the robotics can help the people to solve many problems in the technology industry, traditional industry, and the daily life. The robots thus have gradually become indispensable to people. The safety is an important consideration during the operation of the robot. The robot may collide with the obstacles, causing the robot to be damaged or the user may be injured. In order to avoid the danger, this thesis develops the efficient method for motion trajectory and multiple moving obstacles avoidance of the robot.
The method proposed in this thesis can estimate the collision time zone between the robot and each moving obstacle, and use the collision time zone to determine whether the robot is to quickly move through the obstacle's moving range or wait for the obstacle to move away from the robot. The time planning is achieved by using the optimization method. When the time planning cannot be used to the avoid the moving obstacles, the collision-free trajectory with another waypoint is then generated. The simulation results show that the robot can avoid the moving obstacles and reach the target point accurately, demonstrating the effectiveness of the propose approach.

並列關鍵字

none

參考文獻

[1] International Federation of Robotics, “IFR world robotics presentation”, Sept 2019.

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[4] Xiaohui Li, Zhenping Sun, Dongpu Cao, Daxue Liu, and Hangen He, “Development of a new integrated local trajectory planning and tracking control framework for autonomous ground vehicles”, Mechanical Systems and Signal Processing, vol. 87, pp. 118-137, 2017.

[5] Mingyang Guan, Changyun Wen, Zhe Wei, Cheng-Leong Ng, and Ying Zou, “A dynamic window approach with collision suppression cone for avoidance of moving obstacles”, 2018 IEEE 16th International Conference on Industrial Informatics, pp. 337-342, 2018.