Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/8410
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dc.contributor黃宜正zh_TW
dc.contributorYi-Cheng Huangen_US
dc.contributor陳正倫zh_TW
dc.contributorCheng-Lun Chenen_US
dc.contributor.advisor蔡清池zh_TW
dc.contributor.advisorChing-Chih Tsaien_US
dc.contributor.author馮煜鈞zh_TW
dc.contributor.authorFeng, Yu-Chunen_US
dc.contributor.other中興大學zh_TW
dc.date2009zh_TW
dc.date.accessioned2014-06-06T06:41:31Z-
dc.date.available2014-06-06T06:41:31Z-
dc.identifierU0005-3107200813051200zh_TW
dc.identifier.citation[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.zh_TW
dc.identifier.urihttp://hdl.handle.net/11455/8410-
dc.description.abstract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。zh_TW
dc.description.abstractThis 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.en_US
dc.description.tableofcontentsContents Acknowledgements i Chinese Abstract ii English Abstract iii Contents iv List of Figures vii List of Tables x Nomenclature xi Chapter 1 Introduction 1 1.1 Introduction 1 1.2 Literature Review 3 1.3 Motivation and Objective 8 1.4 Contributions of the Thesis 8 1.5 Organization of the Thesis 9 Chapter 2 System Structure and Control Architecture 10 2.1 Introduction 10 2.2 System Description of the Tour-guide Robot 14 2.2.1 Description of the Laser Scanning Module Subsystem 16 2.2.2Communication Protocol and Interfacing Setup of the Laser Scanner 17 2.2.3 Description of the ultrasonic Subsystem 20 2.2.4 Voltage Indicator Circuitry 23 2.3 Basic Structure of the Four-Wheeled Omnidirectional Mobile Platform 25 2.3.1 DC Servomotor Drive 27 2.3.2 Odometer Development 28 2.3.3 DAC Card 31 2.4 Description of the Suspension Structure for the Mobile Platform 34 2.5 Remote Control 38 2.5.1 Remote Robot Control 39 2.6 Concluding Remarks 40 Chapter 3 Kinematic Control of the Four-Wheeled Omnidirectional Mobile Platform 42 3.1 Introduction 42 3.2Kinematic Model and Dead-Reckoning 44 3.2.1 Kinematic Model 45 3.2.2 Dead-Reckoning 56 3.3 Nonlinear Kinematic Controller Design 57 3.3.1 Point Stabilization 57 3.3.2 Trajectory Tracking 60 3.4 Experimental Results and Discussion 62 3.4.1 Point-to-Point Stabilization 63 3.4.2 Line Path Experiment 64 3.4.3 The Circle Trajectory Tracking 67 3.4.4 Random Trajectory Tracking 71 3.5 Concluding Remarks 75 Chapter 4 Autonomous Navigation 76 4.1 Introduction 76 4.2 Obstacle Avoidance Behavior Using Laser Scanner and Sonar 77 4.3 Hybrid Navigation Design 82 4.4 Experimental Results and Discussion 84 4.5 Concluding Remarks 87 Chapter 5 Human-Robot Interaction and Tour-guide Mode Execution 88 5.1 Introduction 88 5.2 Welcome/Reception Mode 89 5.3 Facial Expression and Dual-Arm Swing 89 5.3.1 Facial Expressions 90 5.3.1.1 Design and Experimentation 90 5.3.2 Dual-Arm Swing 92 5.3.2.1 Experiment Results of Dual-Arm Swing 94 5.4 Exploration Mode 94 5.5 Tour-Guide Mode 95 5.6 The Experimental Result and Discussion 95 5.7 Concluding Remarks 97 Chapter 6 Conclusions and Future Work 98 6.1 Conclusions 98 6.2 Future Work 99 References 101 List of Figures Figure 1.1 Photograph of the enon. 4 Figure 1.2 Photograph of mobile robot named SeQ-1. 6 Figure 1.3 Three entertainment robots developed by IPA 6 Figure 1.4 RoboX robot 7 Figure 1.5 Jinny robot 7 Figure 1.6 Aichi the reception-tour guide robots called Wakamaru 7 Figure 2.1 Tour-Guide Robot Generation 1. 12 Figure 2.2 Tour-Guide Robot Generation 2. 12 Figure 2.3 Improved Tour-Guide Robot Generation 2 13 Figure 2.4 Tour-Guide Robot Generation 3 13 Figure 2.5 Block diagram of the overall system structure. 14 Figure 2.6 The real physical structure of the tour-guide robot. 15 Figure 2.7 Picture of the laser scanner. 16 Figure 2.8 Measurement methods of LMS. 17 Figure 2.9 Direction of transmission for LMS 291-S05. 17 Figure 2.10 Flow chart of operating principle of the LMS 291-S05 20 Figure 2.11 SRF05 Ultrasonic Ranger modules 21 Figure 2.12 The connection methods of SRF05 21 Figure 2.13 SRF05 timing diagrams 22 Figure 2.14 Nios development board, Stratix II edition. 22 Figure 2.15 Diagram of the Nios development board. 23 Figure 2.16 (a) Photograph of physical battery indicator. 24 Figure 2.16 (b) Voltage detection circuit. 24 Figure 2.17 Bottom view of the four-wheeled omnidirectional motion base 26 Figure 2.18 The drive circuit of the DC brushless motor. 26 Figure 2.19 Block diagram of the motion control structure for the mobile base 27 Figure 2.20 Pictures of the DC brushless servomotor and its control kit. 28 Figure 2.21 Signal connection and speed control characteristics of the servomotor 28 Figure 2.22 Photograph of the odometer made by FPGA. 29 Figure 2.23 Circuit of the VHDL-based odometer. 29 Figure 2.24 The data connection of the FPGA MAX II development board 30 Figure 2.25 Photograph of the handmade D/A card. 32 Figure 2.26 The circuit inside the DAC0800 chip 33 Figure 2.27 Typical application of the DA chip 33 Figure 2.28 The wire connection schematics of DAC card. 34 Figure 2.29 Pictures of the all mobile platform components. 36 Figure 2.30 Photographs of ASUS wireless access point WL-330g and USB LAN adapter WL-167g. 39 Figure 2.31 Photograph of the control interface on the wireless control computer. 40 Figure 3.1 Commercial omnidirectional wheel 46 Figure 3.2 Structure and geometry of the omnidirectional driving configuration. 46 Figure 3.3 Schematics of the four-wheeled kinematic model. 47 Figure 3.4 Diagram of the velocity display. 48 Figure 3.5 Moving diagram of the first wheel. 49 Figure 3.6 Moving diagram of the second wheel. 50 Figure 3.7 Moving diagram of the third wheel. 51 Figure 3.8 Moving diagram of the fourth wheel. 52 Figure 3.9 Relationship between local coordinate and global coordinate 53 Figure 3.10 The moving structure of wheel 1, 2, 3 and 4. 54 Figure 3.11 Experiment trajectories of the proposed kinematic controller for achieving point-to-point stabilization. 64 Figure 3.12 (a) Experiment straight-line trajectory tracking start point 65 Figure 3.12 (b~e)The situation mobile robot toward the tracking line. 66 Figure 3.12 (f) The time history of the vehicle tracking result. 66 Figure 3.13 The time historical pictures of the straight line trajectory tracking. 67 Figure 3.14 (a) The mobile robot in the initial position. 68 Figure 3.14 (b~i)Experimental result of the circular trajectory tracking. 69 Figure 3.14 (j) The mobile robot in the end position. 70 Figure 3.15 The time historical pictures of the circular trajectory tracking. 71 Figure 3.16 (a) The mobile robot in the initial position. 72 Figure 3.16 (b~i)Experimental result of the random trajectory tracking. 73 Figure 3.16 (j) The mobile robot in the end position. 74 Figure 3.17 The time historical pictures of the random trajectory tracking. 75 Figure 4.1 The overall flow chart of the obstacle avoidance method. 79 Figure 4.2 The traversability map transformed by terrain map. 79 Figure 4.3 The rotation estimation of the mobile robot. 80 Figure 4.4 (a)The photograph of the environment detection 80 Figure 4.4 (b)The terrain traversability analysis histogram. 80 Figure 4.5 Block diagram of the tour-guide robot hybrid navigation 83 Figure 4.6 The method of two behaviors selection. 84 Figure 4.7 (a) The mobile robot stop at the initial point 85 Figure 4.7 (b) The mobile robot executed the autonomous navigation behavior 86 Figure 4.7 (c) The mobile robot moved to the destination and played sound thank for use. 86 Figure 5.1 Flow chart of the operation scenario with human-robot interactions. 89 Figure 5.2 Photograph of the facial expression system. 91 Figure 5.3 Four kinds of facial expressions 92 Figure 5.4 Control circuitry of arms swing angle and LED bar 93 Figure 5.5 Swing behavior of the dual arms 94 Figure 5.6 The experimental pictures of the tour-guided robot operation scenario. 97 List of Tables Table 2.1 Commands and responses for initializing the LMS. 18 Table 2.1 Commands and responses for initializing the LMS(continued). 19 Table 3.1 Mean error and standard deviation of the point-to-point stabilization . 64 Table 3.2 Mean error and standard deviation of the line path experiment 65 Table 3.3 Mean error and standard deviation of the circle trajectory tracking experiment 68 Table 3.4 Mean error and standard deviation of the random trajectory tracking experiment. 72en_US
dc.language.isoen_USzh_TW
dc.publisher電機工程學系所zh_TW
dc.relation.urihttp://www.airitilibrary.com/Publication/alDetailedMesh1?DocID=U0005-3107200813051200en_US
dc.subjectTour-Guided Roboten_US
dc.subject四全向輪zh_TW
dc.subjectMotion Controlen_US
dc.subjectFour-Wheeled Omnidirectional Platformen_US
dc.subject導航zh_TW
dc.subject平台控制zh_TW
dc.subject導覽型機器人zh_TW
dc.title四全向輪平台導覽型機器人之運動控制、導航與任務執行zh_TW
dc.titleMotion Control, Navigation and Mission Execution of a Tour-Guided Robot with Four-Wheeled Omnidirectional Platformen_US
dc.typeThesis and Dissertationzh_TW
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.openairetypeThesis and Dissertation-
item.cerifentitytypePublications-
item.fulltextno fulltext-
item.languageiso639-1en_US-
item.grantfulltextnone-
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