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  • Journals

移動式機器人曲線運動控制之設計與實現

Design and Implementation of Curvilinear Motion Control for the Mobile Robot

Abstracts


本論文提出了一種,基於曲線運動規劃與深度影像的動態避障方式,依據Xtion感測器,取得深度影像資訊,來辨識環境中的障礙物。因此,不需要經過複雜的影像運算,即可辨識出不同環境下,障礙物的位置和距離,即使在夜晚亦然。此外,本論文推導出機器人左、右移動的速度差,與機器人旋轉半徑之間的關係,使得機器人能夠連續且流暢地行走,並且順利地避開障礙物。最後經由模擬與實驗結果,證實本論文所提出方法的有效性與可行性。

Parallel abstracts


In this paper, we proposed a dynamic obstacle avoidance method based on the depth image from Xtion depth sensor to smoothly move around obstacles. According to the depth image from the sensor, an obstacle is efficiently detected in dark indoor environment with sufficient information of distance between the obstacle and the sensor. Based on the knowledge of curved motion, a radius is found by our method and assigned to a differential wheeled robot to avoid obstacles which is detected in the depth image. Some experiments are conducted to evaluate the performance of the proposed method.

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