輪型機器人智慧化跟隨與召喚之設計與實現

Target Finding and Following on a Wheeled Mobile Robot

溫詠仁(Yung-Jen Wen)

指導教授 ： 林沛群

國立臺灣大學/工學院/機械工程學研究所/碩士(2011年)

https://doi.org/10.6342/NTU.2011.00882

摘要

本篇論文開發了輪型機器人的智慧化功能，根據安裝在使用者身上的不同感測器所發射的不同的訊號，實現跟隨與室外靜態召喚。在跟隨功能方面，使用了低成本的感測器以及低運算(low-computation)演算法使機器人成功跟隨目標並且避開障礙。依照紅外線遙控接收端的實驗數據，建立出一個感測系統，用以偵測目標方向，並且使用紅外線測距儀偵測目標距離，得知目標位置。輪型機器人可以依照不同的距離設定，以不同的速度在複雜的環境下跟隨目標，並透過超音波測距儀避開障礙。此外，當跟隨訊號受阻時，能啟動自主導航模式(odometry mode)，行駛至目標最後位置。最後完成以人和輪椅為目標的跟隨實驗，用以評估整體系統的表現。而在召喚功能方面，利用目標的訊號強度(RSSI)量測距離，並開發出一個搜尋演算法使機器人以繞圓方式計算目標位置。並依照不同距離下的實驗測詴，規劃召喚的步驟，實現室外靜態召喚。

關鍵字

目標跟隨 ； 紅外線感測器 ； 超音波感測器 ； 目標檢測 ； 避障 ； 定位

並列摘要

This paper focuses on development of wheel robot intelligent capabilities, according to different signals of different sensors to achieve the target following and outdoor static robot recall. In the target following, low-cost sensors and a low-computation algorithm are utilized to realize the target following and obstacles avoidance. In order to locate target, the sensing system is established to detect the target direction based on infrared remote receivers experiment, and the infrared range finders are used to detect the target distance. The robot can track and follow the target at various speeds with distance settings, and by using ultrasonic sensors to avoid obstacles, is capable of moving in human environment. In addition, the odometr mode allows the robot to track the target’s last position when the signals are obstructed. Target following experimental validation of human following and robot following are executed to evaluate the performance of the proposed system setup. In the robot recall, the received signal strength indication (RSSI) and the search algorithm are used to calculate the robot to the target position. Finally, according to experiment results under different distances, we plan the step for the realization of outdoor static mode robot recall.

並列關鍵字

target following ； infrared sensor ； ultrasonic sensor ； target detection ； obstacle avoidance ； locate

參考文獻

[36] 蔡佳宏, "距離感測器於輪型機器人之應用," 碩士論文, 機械工程學系, 國立台灣大學, 台北, 2011.

[35] 鄭智中, "具避障功能之可傾式雙輪平台設計與實現," 碩士論文, 機械工程學系, 國立台灣大學, 台北, 2010.

[10] C.-H. Chao, et al., "Real-time Target Tracking and Obstacle Avoidance for Mobile Robots using Two Cameras," in ICROS-SICE International Joint Conference, 2009, pp. 4347-4352.

[1] WABOT-1. Available: http://fr.wikipedia.org/wiki/Wabot-1

[3] T. Kanda, et al., "A two-month field trial in an elementary school for long-term human-robot interaction," IEEE Transactions on Robotics, vol. 23, pp. 962-971, 2007.