Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/8410
標題: 四全向輪平台導覽型機器人之運動控制、導航與任務執行
Motion Control, Navigation and Mission Execution of a Tour-Guided Robot with Four-Wheeled Omnidirectional Platform
作者: 馮煜鈞
Feng, Yu-Chun
關鍵字: Tour-Guided Robot;四全向輪;Motion Control;Four-Wheeled Omnidirectional Platform;導航;平台控制;導覽型機器人
出版社: 電機工程學系所
引用: [1] 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. [2] 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. [3] F. G. Pin and S. M. Killough, “A New Family of Omni-directional and Homonymic wheeled platforms for mobile robots,” IEEE Transactions on Robotics and Automation, vol.10, pp.480-489, August 1994. [4] M. J. Jung, H. S. Kim, S. Kim, and J. H. Kim, “Omni-directional Mobile Base OK-II,” Proceedings of the 2000 IEEE international conference on robotics and automation, San Franciso, CA, pp.3449-3454, April 2000. [5] http://www.nedo.go.jp/expo2005/robot/work/page007.html. [6] http://www.nedo.go.jp/expo2005/robot/work/page006.html. [7] http://www.fujitsu.com/tw/news/2005/0930.html [8] http://www.mirl.itri.org.tw/mirl-inter/knowledge/mim/291/291-03.pdf [9] M. Y. Wang , Autonomous navigation and interactive operation of a tour guide robot, M.S. Thesis, Department of Electrical Engineering, National Chung-Hsing University, Taichung, Taiwan, July 2007. [10] C.C. Shih, Design and Implementation of a Tour-Guide Robot, M.S. Thesis, Department of Electrical Engineering, National Chung-Hsing University, Taichung, Taiwan, July 2006. 102 [11] P. F. Muir and C. P. Neuman, “Kinematic modeling for feedback control of an omnidirectional wheeled mobile robot,” Proceedings of 1987 IEEE International Conference on Robotics and Automation, vol. 4, pp. 1772-1778, March 1987. [12] A. Béktourné and G. Campion, “Kinematic modeling of a class of omnidirectional mobile robots,” Proceedings of the 1996 IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota , vol.4, pp. 3631-3636 , April 1996. [13] K. Watanabe, “Control of an omnidirectional mobile robot,” Proceedings of 1998 Second International Conference on Knowledge-Based Intelligent Electronic Systems, vol.1,pp. 51 - 60 , April 1998. [14] B.-J. Yi and W. K. Kim, “The kinematics for redundantly actuated omni-directional mobile robots,” Proceedings of the 2000 IEEE International Conference on Robotics and Automation, San Francisco, CA, pp.2485-2492, April 2000. [15] K.L. Moore and N. S, Flann, “A six-wheeled omnidirectional autonomous mobile robot,” IEEE Control Systems Magazine, pp.53-66, Dec. 2000. [16] M. J. Jung, H. S. Kim, S. Kim, and J. H. Kim, “Omni-directional mobile base OK-II,” Proceedings of the 2000 IEEE international conference on Robotics and Automation, San Franciso, CA, pp.3449-3454, April 2000. [17] T. Kalmár-Nagy, P. Ganguly, and R. D'andrea, “Real-time trajectory generation for omnidierectional vehicles,” Proceedings of the American Control Conference, Anchorage, AK, USA, pp. 286-291, 2002. [18] R. L. Williams II, B. E. Carter, P. Gallina, and G. Rosati, “Dynamic model with slip for wheeled omnidirectional robots,” IEEE Transactions on Robotics and Automation, vol.18,no.3, pp.285-293, June 2002. 103 [19] C. C. Tsai and T. S. Wang, “Nonlinear control of an omnidirectional mobile robot,” CD-ROM proceeding of the 8th international conference on Automation Technology (Automation 2005), Taichung, Taiwan, pp.727-732, May 2005. [20] H. K. Khalil, Nonlinear systems, 3rd Ed., Prentice Hall, 2002. [21] C. Ye, ”Navigating a mobile robot by a traversability field histogram” IEEE Transactions on Systems, Man, and Cybernetics-Part B, vol.37,no.2, April 2007. [22] S. M. Hu, Multi-sensory hybrid navigation and human-robot interaction of an active mobile robotic assistant for the elderly people, M.S. Thesis, Department of Electrical Engineering, National Chung-Hsing University, Taichung, Taiwan, July 2006.
摘要: 
本論文之研究目的在於發展四全方位移動型導覽機器人平台控制、自主導航與任務執行的方法與技術。在四個全方位輪呈現九十度的排列方式下,利用非線性正規劃運動學控制方法實踐全方位移動機器人點穩定度分析、軌跡追蹤實驗。為了達到導覽機器人的自主導航,文中提出混合導航技術包含了點對點軌跡追蹤與障礙物閃避。避障的法則使用環境偵測距離直方圖,找出最佳的閃避路徑避開在博物館的各種不同障礙。在人機互動設計上,機器人具有多樣化的表情示意系統以及豐富有趣的聲光語音效果,因此機器人更容易引起參訪遊客的注意與興趣。文中也提出許多的實驗結果將此機器人的優點加以分析討論,確保以及驗證所提出方法的有效性,以期在不久的將來,將此導覽型機器人技術加以發展實踐應用。

This thesis develops methodologies and techniques for motion control, autonomous navigation and mission execution of a tour-guide robot with a four-wheeled omnidirectional mobile platform. A nonlinear unified kinematical control method is presented for point stabilization and trajectory tracking of an omnidirectional wheeled mobile robot with four independent driving omnidirectional wheels equally spaced at 90 degrees from one to another. A hybrid navigation method is proposed to achieve safely autonomous navigation of the tour-guide robot; this approach includes two schemes: one is the point-to-point trajectory tracking, and the other is the obstacle avoidance function using the traversability distance histogram (TDH) method to escape the barrier in museums. A simple but interesting human-robot interactive system with the operation scenario is presented. The effectiveness and merit of the proposed techniques are exemplified by conducting several experiments on an experimental four-wheeled omnidirectional tour-guide robot.
URI: http://hdl.handle.net/11455/8410
其他識別: U0005-3107200813051200
Appears in Collections:電機工程學系所

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