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Multi-Sensory Hybrid Navigation and Human-Robot Interaction of an Active Mobile Robotic Assistant for the Elderly People
|關鍵字:||Active Mobile Robotic Assistant;老人看護機器人;Hybrid Navigation;主動式行動輔助器;混合導航||出版社:||電機工程學系所||引用:|| http://www.irobot.com/  http://www.mhi.co.jp/kobe/wakamaru/english/index.html  M. Pollack, S. Engberg, J.T. Matthews, S. Thrun, L. Brown, D. Colbry, C. Orosz, B. Peintner, S. Ramakrishnan, J. Dunbar-Jacob, C. McCarthy, M. Montemerlo, J. Pineau and N. Roy, “Pearl: A Mobile Robotic Assistant for the Elderly,” Workshop on Automation as Caregiver :the Role of Intelligent Technology in Elderly Care (AAAI), August 2002.  http://www.sony.net/SonyInfo/QRIO/  B.Graf , M. Hans and R. Schraft “Care-O-bot II—Development of a Next Generation Robotic Home Assistant,” Autonomous Robots, vol. 16, pp.193-205, 2004.  J. A. Castellanos, J. Neira, and J. D. Tardós, “Multisensor Fusion for Simultaneous Localization and Map Building,” IEEE Transactions on Robotics and Automation, vol. 17, no. 6, pp.908 - 914, December 2001  J. Neira, J. D. Tard´os, J. Horn, and G.. 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Christensen “Laser Based Pose Tracking,” Proceedings of the IEEE International Symposium on Robotics and Automation, vol. 4, pp. 2994-3000, 10-15 May 1998.  http://www.oopweb.com/Algorithms/Documents/PLDS210/Volume/dijkstra.html||摘要:||
本論文旨在發展主動式銀髮族行動輔助器之多感測器混合航導航與人機互動技術。環境地圖之建立是整合尺度地圖與拓樸地圖而成，由使用者輸入。RFID系統被應用於指定環境中各個子空間，以利於初值定位與相似環境的辨識。為使行動輔助器能配合使用者的速度，以PID適應控制法則來達成適應車速控制。導航系統之尋標行為由虛擬力場結合模糊控制法則來引導行動輔助器到達目標 ; 而避障行為則是由模糊控制法則融合雷射與超音波所掃瞄之環境資料來完成障礙物規避動作。路徑規劃以Dijkstra演算法求出全域之最佳路徑。此外，本文發展一簡單的人機互動系統，並提出使用者情境模型，使用者可藉由觸控螢幕或鍵盤下達指令，而系統經由RFID辨識使用者資料後，針對此特定使用者來執行臉部表情互動與事件提醒功能。基於安全因素，本系統還具備有遠端遙控的功能，透過視訊遠端監視者可觀察行動輔助器使用情況，意外即將發生時可切換成遙控模式操縱行動輔助器避開危險。模擬結果以及實驗數據被用以檢驗本文所提之方法的有效性。
This thesis presents methodologies and techniques for adaptive speed, multi-sensory hybrid navigation and human-robot interaction of an active mobile robot assistant for the elderly people in a known and cluttered indoor environment. In robotic mapping, the geometric and topological representations are combined together to maintain the advantages of them and counteract their disadvantages. By using RFID system, the estimation of position hypothesis for similar regions in a known environment can be reduced. In order to let the speed of the proposed mobile robot assistant adapt to the different users, the PID control algorithm is used to control the robot to match various users' speed with keeping a desired distance between the robot and the user. Safe navigation is achieved by fusing goal-seeking and obstacle-avoidance from the sensing data of laser scanner and ultrasonic rangers via the fuzzy control algorithm. In addition, the global optimal path is determined by Dijkstra's dynamic programming approach. Finally, a human-robot interface with touch panel and friendly graphic display and control is designed and implemented so that the elderly people can easily manipulate the robot. For the security reason, the teleoperation is used to avoid some accidents while the robotic autonomous system does not work. Furthermore, the operation scenario is proposed and the RFID system is also utilized to detect the user's ID so that the robot can interact with the user via event reminder and facial expression. Several computer simulations and experimental results are conducted to show the effectiveness and merits of the proposed methods.
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