Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/8730
標題: 兩輪自平衡機器人之非線性運動控制與導航
Nonlinear Motion Control and Human-Aware Navigation of a Two-Wheeled Self-Balancing Mobile Robot
作者: 王世泓
Wang, Shih-Hung
關鍵字: Self-balancing;自平衡;Robot;Nonlinear Motion Control;機器人;非線性運動控制
出版社: 電機工程學系所
引用: [1] Y.Hosoda, S. Egawa, J. Tamamoto, K. Yamamoto, R.Nakamura and M.Togami “Basic design of human-symbiotic robot EMIEW,” in Pro. IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, pp.5079-5084, Oct. 9 - 15, 2006. [2] S.C. Lin, System design, modeling and control of self-balancing human transportation vehicles, D.S. Thesis, Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan, July 2008. [3] M. Sasaki, N. Yanagihara, O. Matsumoto, and K. Komoriya, “Steering control of the personal riding-type wheeled mobile platform (PMP),” in Proc. 2005 IEEE International Conference on Intelligent Robots and Systems, pp.1697-1702, 2005. [4] F. Grasser, A.D'Arrigo, and S. Colombi, “JOE: A Mobile, Inverted Pendulum,” IEEE Trans. Industrial Electronics, vol.49, no.1, pp.107-114, February 2002. [5] K. Pathak, J. Franch, and S. K. Agrawal, “Velocity and position control of a wheeled inverted pendulum by partial feedback linearization,” IEEE Transactions on Robotics, vol.21, no.3, pp.505-513, June 2005. [6] A. Salerno, and J. Angeles, “The control of semi-autonomous two-wheeled robots undergoing large payload-variations,” in Proc. ICRA'04, vol.2, pp.1740-1745, Apr 26-May 1, 2004. [7] Y.-S. Ha and S. Yuta, “Trajectory tracking control for navigation of the inverse pendulum type self-contained mobile robot,” Robotics and Autonomous Systems, vol.17, pp. 65-80, 1996. [8] Y.Hosoda, S. Egawa, J. Tamamoto, K. Yamamoto, R.Nakamura and M.Togami “Basic design of human-symbiotic robot EMIEW,” in Pro. IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, pp.5079-5084, Oct. 9 - 15, 2006. [9] E. A. Sisbot, L. F. Marin-Urias, R. Alami, and T. Simeon “A human aware mobile robot motion planner,” IEEE Transactions on Robotics, vol.23, no.5, pp.874-883, October 2007. [10] Y. H. Fan, Motion control and planned navigation of a two-wheeled self-balancing mobile platform for human symbiotic robots, M.S. Thesis, Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan, July 2008. [11] R. Siegwart and I R Nourbakhsh, Introduction to autonomous mobile robots, 1st Ed., Bradford, 2004. [12] H.K. Khalil, Nonlinear systems, 3rd Ed., Prentice Hall, 2002. [13] R. C. Dorf and R. H. Bishop, Modern control systems, 10th Ed., Prentice Hall, 2001. [14] E. A. Sisbot, L. F. Marin-Urias, R. Alami, and T. Simeon “A mobile robot that performs human acceptable motions,” in Pro. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1811-1816, October 2006. [15] E. A. Sisbot, A. Clodic, L. F. Marin-U., M. Fontmarty, L. Brethes, and R. Alami, “Implementing a human-aware robot system,” IEEE International Symposium on Robot and Human Interactive Communication, pp.727-732, September 2006. [16] C. C. Tsai, C. K. Chan, and Y. H. Fan, “Planned Navigation of a self-balancing autonomous service robot,” International Conference on Advanced Robots and its Social Impacts, Taipei, Taiwan, Aug. 2008. [17] E. A. Sisbot, L. F. Marin-Urias, and R. Alami “Spatial reasoning for human robot interaction,” in Pro. IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, USA, pp.2281-2287, Nov. 2007. [18] A. Shimada, and N. Hatakeyama, “High-speed motion control of wheeled inverted pendulum robots,” in Proc. 4th IEEE International Conference on Mechatronics, pp.1-6, 8-10 May 2007. [19] 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.
摘要: 
本論文的目的是研究兩輪自平衡自動服務機器人的運動平台與計畫導航控制架構。以非線性數學模組考慮的運動學軌跡追蹤和利用兩個滑動控制的法則,去設計速度追蹤與轉向控制。由電腦模擬和實驗結果可知所提的運動控制器及規劃導航控制架構,具有滿意的控制功能,用以達成軌跡追蹤、避障與任務執行。

This thesis presents techniques for motion control and human-aware navigation of a two-wheeled self-balancing mobile robot. Based on the nonlinear mathematical modeling, a motion commands generator and two sliding-mode controllers are designed to achieve speed tracking, yaw rate control and desired trajectory tracking. The human-aware navigation combines an obstacle-avoidance method and skin color detection, in order to provide desired socially acceptable path between humans and the robot. Simulations and experimental results indicate that the proposed motion controllers and human-aware navigation approach are capable of providing appropriate control actions to satisfactorily achieve path tracking, obstacle avoidance and mission execution.
URI: http://hdl.handle.net/11455/8730
其他識別: U0005-2907200923230200
Appears in Collections:電機工程學系所

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