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系統識別號 U0026-1408201714275000
論文名稱(中文) 應用於家庭機器人追蹤人體與避障路徑規劃之全向移動系統設計和實作
論文名稱(英文) Design and Implementation of Human Tracking, Obstacle Avoidance and Path Planning for Omnidirectional Mobile System of Home Robot
校院名稱 成功大學
系所名稱(中) 電機工程學系
系所名稱(英) Department of Electrical Engineering
學年度 105
學期 2
出版年 106
研究生(中文) 許耀宗
研究生(英文) Yao-Tsung Hsu
學號 N26044707
學位類別 碩士
語文別 英文
論文頁數 52頁
口試委員 指導教授-王駿發
口試委員-王家慶
口試委員-曾世邦
口試委員-官大文
口試委員-蔡安朝
中文關鍵字 家庭機器人  全向移動系統  使用者追蹤  平移避障 
英文關鍵字 Home Robot  Omnidirectional Mobile System  User Tracking  Obstacle Avoidance 
學科別分類
中文摘要 本論文實現了ㄧ個應用於家庭機器人跟隨使用者、前往使用者身邊及行進間避障的全向移動系統。此移動系統可獨立分離或結合於家庭機器人本體,在分離狀態時,移動系統可獨立遙控控制,或切換使其自動前進並於行進間避障。在結合狀態時,移動系統可牽引總量達30公斤以上的家庭機器人進行移動,除此之外,還能使用深度攝影機Kinect透過藍芽所傳遞的使用者位置資訊和手勢辨識結果,跟隨使用者或前往使用者身邊。其中手勢辨識的加入更能讓機器人在語音辨識失效時(例如:吵雜環境中),以影像接收來自使用者的訊息,即刻前往使用者的身邊服務,提升追蹤功能在實際場域的可用性。
本移動系統使用擅於執行特定任務的單晶片控制,卻能夠透過延遲分時收訊的設計,在沒有中斷處理的機制下,使用藍牙與RF 2.4G無線傳輸技術於四個子系統間快速的切換控制權,跳脫以往單晶片控制的限制而有了類多工執行不同任務的能力。另一方面,動力子系統所使用的全向輪,則能幫助機器人完成傳統兩輪機器人不容易進行的平移和自旋運動模式。其中,平移能讓行進間的避障更靈活快速,自旋則能讓機器人在使用者大角度的迴轉時更快速的鎖定目標,讓目標始終位於Kinect的視線範圍內。最後,本論文以模擬的居家環境進行障礙物避障、跟隨使用者與前往使用者等多項實驗來驗證移動系統的設計實作,並在居家環境條件下都能擁有很好的表現。
英文摘要 The paper implements an omnidirectional mobile system that applies to home robots with functions including follow the user, come to the user and path obstacle avoidance. The mobile system can be independently separated or combined with the home robot. In the separation state, the independent mobile system can be remotely control, or switch to make it automatically go forward and avoid obstacles in the path. In the combined state, the mobile system can remotely pull the home robot which weight more than 30 kilograms. In addition, the mobile system can follow or come to the user through the user position information and the results of gesture recognition via Bluetooth from the depth camera Kinect. The gesture recognition allows the robot to receive the message from the user even when speech recognition fails (for example, noisy environment), which improves the usability of user tracking function in actual field. The mobile system uses single-chip control that is specializes in executing specific tasks, while with the delay time sharing reception design, four subsystems can quickly switch their control using Bluetooth and RF 2.4G wireless transmission, therefore achieve a certain degree of multitasking ability. On the other hand, the omnidirectional wheel used by the power subsystem can help the robot to do translation and spin movement that is difficult for the traditional two-wheeled robot.
Among them, the translation movement allow the robot to avoid obstacle in the path faster and more flexible, while the spin movement allow the robot to lock user with large angle rotation when user is turning around in a short time, so that the target can always be located within the sight of Kinect camera. Finally, the paper design various experiments in the simulated home environment to verify the mobile system design, including path obstacle avoidance, follow the user and come to the user, and the results show that the mobile system have good performance in home environmental conditions.
論文目次 中文摘要 I
Abstract II
Contents IV
Table List V
Figure List VI
Chapter.1 Introduction 1
1.1 Background 1
1.2 Objectives 3
1.3 Organization 3
Chapter.2 Related Works 4
2.1 Target Tracking 4
2.2 Obstacles Avoidance 6
2.3 Fuzzy Logic Control 8
Chapter.3 Proposed Omni-directional Mobile System 15
3.1 System Architecture 15
3.2 Key Modules 18
3.2.1 Kinect 18
3.2.2 Ultrasonic Sensor 21
3.2.3 Dual DC Motor Controller 23
3.2.4 PS2 Gamepad Control Module 26
3.3 Key Functions 28
3.3.1 User Target Tracking 28
3.3.2 Path Obstacle Avoidance 32
3.3.3 Fuzzy Logic Control 35
Chapter.4 Experiments 38
4.1 Experiment Environment 38
4.2 Experiment Results 46
Chapter.5 Conclusion and Future Work 47
References 48
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