家庭服務機器人定位及路徑規劃

Self-Localization and Path-Planning of Home Service Robot

張竣捷(Chun-Chieh Chang)

指導教授 ： 蕭俊祥

國立臺北科技大學/機電學院/機電整合研究所/碩士(2011年)

摘要

在本論文中，我們提出一個適用於家庭服務機器人的導航系統，其目的在於使機器人具有在真實環境中進行路徑規劃及定位的能力，首先以攝影機去辨識地標(landmark)，再以雷射測距儀測量機器人與地標之間的距離，並以三角定位法來算出機器人位置。本文採用LabVIEW 2009為平台設計人機介面做影像處理與計算機器人所在之座標，進而去計算與目的地座標的距離與方位。據此機器人依位能場法規劃路徑，到達所要的目的地以及避開障礙物。

關鍵字

三角定位法 ； 位能場 ； 影像處理 ； 雷射測距

並列摘要

This paper proposes a system design for home service robot capable of path-planning and localization in the real environment. First, the robot uses a webcam to identify landmarks around the space, and then uses the scanning laser range finder to measure the distances between the robot and landmarks. Triangulation method is applied to calculate the robot position in the space. In this study, LabVIEW 2009 package is employed as the platform for image processing and robot localization. Once the robot location and orientation are known, path-planning and navigation are carried out by using the potential field method. Accordingly the robot can arrive the goal target and avoid the obstacles along the way.

並列關鍵字

Triangulation ； Potential Field Method ； Image Process ； Scanning Laser Range Finder

參考文獻

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