模糊控制可自行搭乘電梯之立體視覺伺服行動機器人

Fuzzy Control of a Wheeled Mobile Robot Based on Stereo Visual Servoing to Take Elevators Autonomously

張嘉麟(Chia-Lin Chang) ； 陳冠宇(Kuan-Yu Chen) ； 張永鵬(Yeon-Pun Chang) ； 呂育宏(Yu-Hung Lu)

《先進工程學刊》 2卷4期 (2007/10) Pp. 271-278

https://doi.org/10.29948/JAE.200710.0012

摘要

本文使用模糊邏輯控制一部立體視覺伺服的輪型行動機器人，使其能夠自行搭乘電梯。此行動機器人具備二套立體視覺系統，一套為機器人的頭部視覺系統，用於感測環境以判別電梯的位置；另一套安裝於四軸機械手臂上，用於辨識電梯的上下及樓層按鈕。模糊邏輯理論用於規劃行動機器人的運動路徑並控制其運動。此行動機器人搭乘電梯的運作程序可分為五個行程：第一，行動機器人行進至電梯前的適當位置；第二，機械手臂辨識並觸碰電梯的上下按鈕；第三，判斷電梯開門並進入電梯；第四，機械手臂辨識並觸碰指定的電梯樓層按鈕；最後，在電梯到達目的樓層後判斷電梯開門，離開電梯。實驗結果顯示，結合模糊邏輯與立體視覺伺服控制的行動機器人可以在四分鐘內完成自行搭乘電梯的任務。

關鍵字

模糊控制 ； 輪型行動機器人 ； 立體視覺伺服 ； 影像辨識

並列摘要

This paper uses fuzzy logic to control a wheeled mobile robot based on stereo visual servoing can take elevator autonomously. There are two stereo vision systems on the mobile robot. One is the head vision system of the robot used to sense environment for detecting the position of the elevator. The other is mounted on a four-axis manipulator used to recognize the up/down and floor buttons of the elevator. The motion path planning and motion control of the mobile robot are accomplished by using fuzzy logic. The processing stage of the mobile robot taking the elevator can be divided into five stages. First, the mobile robot moves to adequate position in front of the elevator door. Secondly, the manipulator recognizes the up/down button and presses it. Thirdly, the mobile robot recognizes the elevator door opened and enters the elevator. Fourthly, the manipulator recognizes the floor button assigned and presses it. Finally, when the elevator reached the target floor, the mobile robot recognizes the elevator door opened and leaves the elevator. Experimental results show that the combination of fuzzy logic and stereo visual servoing for controlling the mobile robot can fulfill the task of taking elevator autonomously in four minutes.

並列關鍵字

fuzzy control ； wheeled mobile robot ； stereo visual servoing ； image recognition