隨著機器人技術不斷進步,機器人已經逐漸成為我們生活中相當重要的好夥伴,它不但在工作方面能夠幫助人們解決很多的問題,也是居家的好幫手,使工作變得更安全也更方便,因此在研究上一直不斷地改良及創新。由於在機器人執行任務過程中,需要避免接觸或碰撞到人和障礙物,為了使移動機器人能夠即時完成任務,必須規劃出一條無碰撞的行進路徑,並考慮機器人在有移動障礙物存在時,該如何閃避障礙物的問題。然而,為了找出最佳路徑及障礙物閃避問題必須花費時間計算,因此,需要發展有效率的避障方法。 本論文首先建立機器人模型,透過移動機器人的行進路徑及避障標準進行分析,並提出移動避障方法,使移動機器人進行閃避移動中的障礙物,最後將所提方法進行模擬,模擬結果顯示,機器人可以在行進間進行閃避移動中的障礙物,並且能夠準確地到達所期望的目標及方向。
With the advances in robotics, robots have gradually become the important partners in our lives. They can help the people to efficiently perform the work. An important function for the robot is obstacle avoidance. Since the obstacles may move with varying velocities in the dynamic environment, it is required to develop an effective scheme for moving obstacle avoidance. In this thesis, the robot dynamic model is first built. The obstacle avoidance criterion is also analyzed. The moving obstacle avoidance method is then proposed. Finally, simulations are performed to demonstrate the efficiency of the proposed approach.