結合射頻辨識與二維雷射尋標儀於輪型機器人之追蹤與避障

簡易檢索 / 詳目顯示

回結果列表

研究生：	溫智凱 Wen, Chih-Kai
論文名稱：	結合射頻辨識與二維雷射尋標儀於輪型機器人之追蹤與避障 Combining RFID and 2-D SLR on the Collision Avoidance and Tracking of a Mobile Robot
指導教授：	陳建祥 Chen, Jian-Shiang
口試委員:	陳榮順 Chen, Rong-Shun 陳建祥 Chen, Jian-Shiang 葉廷仁 Yeh, Ting-Jen
學位類別：	碩士 Master
系所名稱：	工學院 - 動力機械工程學系 Department of Power Mechanical Engineering
論文出版年：	2012
畢業學年度：	100
語文別：	中文
論文頁數：	73
中文關鍵詞：	輪型機器人、雷射測距儀、無線射頻辨識系統
外文關鍵詞：	mobile robot, scanning laser rangefinder, radio frequency identification
相關次數：	點閱：2 下載：0
分享至:	分享至facebook 分享至twitter

查詢本校圖書館目錄查詢臺灣博碩士論文知識加值系統勘誤回報

本論文規劃一台用於圖書館的智慧型機器人，它可以幫助使用者載運書籍，
也可以讓使用者隨時當椅子坐下。這台智慧型機器人是由輪型機器人、雷射測距
儀和無線射頻辨識系統所組成。此系統具有追蹤、避障、定位、禁制和判斷機器
人行動模式等五種功能。
無線射頻辨識系統是用來判斷機器人的行動模式。行動模式有五種，待命、
追蹤使用者、追蹤管理員、從禁制區回到起始點附近和在起始點附近回到起始
點。而雷射測距儀是用來獲得周遭環境的距離資料，主要用來追蹤、避障和找尋
起始點。
實驗分成三個部分：第一部分為找尋輪型機器人的馬達動態模型，把輪型機
器人的SH2 微處理器換成使用外部電路給參考訊號來建立馬達動態模型；第二
部分為使用無線射頻辨識系統判斷機器人行動模式的正確性；第三部分為使用雷
射測距儀來進行追蹤、避障、禁制和找尋起始點。最後做一個在圖書館使用此機
器人的情境模擬來做總結。

This thesis devised an intelligent robot that can be used in library. It can help the user delivering books or let the user sit on the robot as will. The intelligent robot
consists of a wheel robot, a scanning laser rangefinder (SLR) and a radio frequency identification (RFID). The system has five functions, e.g. tracking, obstacle
avoidance, positioning, restrained and mode selection.
The RFID determines the action mode of the robot. There are five action modes which are idleness, tracking the user, tracking the manager, return to the area around the initial point from restricted and return to the initial point from the area around the initial point. The SLR can obtain the environmental distance data that are used in tracking, obstacle avoidance and finding the target.
There are three parts of the experiment. The first part constructs the dynamic model of motor for the wheel robot. The SH2 microprocessor of wheel robot is replaced with an external circuit to provide the reference signal for finding the dynamic model of motor. The second part uses RFID to determine the valid robot action modes. The third part utilizes SLR for tracking, obstacle avoidance and finding
the target. Finally, the thesis uses the robot to simulate the surroundings in the library by several experiments.

摘要................................................................................................................................ i
Abstract ......................................................................................................................... ii
目錄.............................................................................................................................. iii
圖目錄 ......................................................................................................................... vii
表目錄 .......................................................................................................................... xi
第一章 緒論 ................................................................................................................. 1
1.1 研究背景與動機 ...................................................................................................... 1
1.2 文獻回顧 .................................................................................................................. 2
1.3 本文架構 .................................................................................................................. 5
第二章 設計描述 ......................................................................................................... 6
2.1 設計起源 ...................................................................................................................... 6
2.2 輪型機器人的系統和控制方式 .................................................................................. 8
2.3 RFID 的系統設計 ...................................................................................................... 12
2.4 SLR 的追蹤設計 ........................................................................................................ 16
2.4.1 SLR 資料前置處理 ............................................................................................. 17
2.4.2 追蹤部分 ............................................................................................................. 19
2.5 從禁制區回到起始點 ................................................................................................ 22
2.6 在起始點附近以SLR 回到起始點 ........................................................................... 24
第三章 實驗設備 ....................................................................................................... 29
3.1 硬體架構 .................................................................................................................... 29
3.1.1 雙輪機器人之硬體架構 ..................................................................................... 30
3.1.2 雷射掃描儀之硬體介紹 ..................................................................................... 32
3.1.3 RFID 之硬體介紹 ............................................................................................... 35
3.2 軟體介紹 .................................................................................................................... 37
第四章 實驗結果 ....................................................................................................... 38
4.1 實驗介紹 ...................................................................................................................... 38
4.2 實驗一 馬達系統轉移函數 ........................................................................................ 38
4.3 實驗二 .......................................................................................................................... 46
4.3.1 RFID 距離測試 ...................................................................................................... 46
4.3.2 RFID 機器人判斷模式 .......................................................................................... 47
4.4 實驗三 追蹤功能 ........................................................................................................ 50
4.5 實驗四 .......................................................................................................................... 51
4.5.1 討論從禁制區到起始點的距離 ........................................................................... 51
4.5.2 避障功能 ............................................................................................................... 53
4.6 實驗五 準確回到起始點 ............................................................................................ 55
4.7 實驗六 模擬在圖書館的使用 .................................................................................... 58
第五章 本文貢獻與未來發展與建議 ....................................................................... 62
5.1 本文貢獻 .................................................................................................................... 62
5.2 未來發展與建議 ........................................................................................................ 62
參考文獻 ..................................................................................................................... 64
附錄.............................................................................................................................. 69
附錄A P3-DX 的規格 ................................................................................................... 69
附錄B URG-LX04 詳細規格 ............................................................................................. 70
附錄C 筆記型電腦的詳細規格 ...................................................................................... 71
                                

[1] Y. Shimosasa, J. Kanemoto, K. Hakamada, H. Horii, T. Ariki, Y. Sugawara, F. Kojio, A. Kimura, S. Yuta, “Some results of the test operation of a security service system with autonomous guard robot”, 26th Annual Conference of the IEEE on Industrial Electronics Society, 2000 (IECON 2000), Vol.1, pp.405-409.
[2] Y. Yagi, Y. Nishizawa, M. Yachida, “Map-based navigation for a mobile robot with omnidirectional image sensor COPIS”, IEEE Trans. on Robotics and Automation Vol.11, pp. 634-648, October 1995.
[3] iRobot Corporation, http://store.irobot.com/category/index.jsp?categoryId=3334619.
[4] 林東儀，臉孔偵測與追蹤應用於居家醫療機器人，國立中正大學電機工程研究所碩士論文，2006.
[5] Library in Netherlands, http://www.youtube.com/watch?v=jaaA6YTfqcQ.
[6] Y. Morales, A. Carballo, E. Takeuchi, A. Aburadani, and T. Tsubouchi, “Autonomous robot navigation in outdoor cluttered pedestrian walkways,” J. of Field Robotics, Vol.26, Issue 8, pp. 609-635, 2008.
[7] C. H. Lin, S. H. Yang, H. T. Chen and K. T. Song, “Mobile robot intruder detection based on a Zigbee sensor network,” Systems, Man and Cybernetics, 2008. SMC 2008. IEEE International Conference on 12-15 Oct. 2008 Page(s):2786 – 2791.
[8] 黃俊凱，微機電感測器於地面車輛定位系統之應用，國立台灣科技大學機械工程系碩士論文，2005.
[9] L. P. Chuan, A. Johari, M. H. A. Wahab, D. M. Nor, N. S. A. M. Taujuddin and M. E. Ayob, “An RFID Warehouse Robot,” In Proceeding of IEEE International Conference on Intelligent and Advanced System 2007 (ICIAS2007), KLCC, 25 - 28 November 2007.
[10] 林文勇，以RFID為基礎建構資訊服務平台，國立中央大學碩士論文，2009.
[11] H. Chae and K. Han, “Combination of RFID and vision for mobile robot
localization,” Proc. IEEE Int. Conf. Intell. Sensors, Sensor Netw. Inf. Process., p.75 , 2005.
[12] S. Park and S. Hashimoto, “An intelligent localization algorithm using read time of RFID system,” Adv. Eng. Inform., 24 (2010), pp. 490–497.
[13] M. Bouet and G. Pujolle. L-virt: “Range-free 3-d localization of RFID tags based on topological constraints,” Computer Communications, 32:1485-1494, 2009.
[14] A. Nakazawa, H. Kato, and, S. Inokuchi, “Human tracking using distributed video systems,” in, International Conference on Pattern Recognition, 1998, pp. 593 -596 vol.1.
[15] 黃富聖，基於全向式影像之機器人同步定位與環境地圖建立，國立交通大學電機與控制工程學系碩士論文，2008.
[16] D. Lowe, “Object Recognition from Local Scale-Invariant Features,” In Proceedings of the International Conference on Computer Vision, pages 1150–1157, Corfu, Greece,September 1999.
[17] V. Nguyen, S. Gächter, A. Martinelli, etal., “A comparison of line extraction algorithms using 2D range data for indoor mobile robotics,” Autonomous Robots, vol. 23, no. 2, pp. 97–111, August 2007.
[18] C. Premebida, “Segmentation and Geometric Primitives Extraction from 2D Laser Range Data for Mobile Robot Applications”. Techical report Nº ISRLM2005/02, Institute of System and Robotics - ISR, University of Coimbra, Portugal, 2005.
[19] S. T. Pfister, K. L. Kriechbaum, S. I. Roumeliotis, J.W. Burdick: “A Weighted Range Sensor Matching Algorithm for Mobile Robot Displacement Estimation,” Proceedings of the IEEE International Conference on Robotics and Automation, vol.2 (2002), 1667- 1674.
[20] K. Lingemann, A. Nchter, J. Hertzberg, H. Surmann, “High-speed laser localization for mobile robots,” Robotics and Autonomous Systems 51, pp. 275-296, 2005.
[21] 鍾鎮謙，運用雷射測距儀之機器人定位，國立交通大學電機與控制工程學系碩士論文，2006.
[22] J. Gonzalez, A. Ollero, and A. Reina, “Map building for a mobile robot equipped with a 2D laser rangefinder”, IEEE Int. Conf On Robotics and Automation, pp. 1904-1909, 1994.
[23] H. Surmann, A. Nuchter, and J. Hertzberg, “An autonomous mobile robot with a 3D laser range finder for 3D exploration and digitalization of indoor environments,” Robotics and Autonomous Systems, vol. 45, pp. 181–198, 2003.
[24] B. Jung and G. S. Sukhatme. Real-time Motion Tracking from a Mobile Robot. Technical report, University of Southern Cal ifornia, 2005.
[25] A. Brooks and S. Williams, “Tracking people with networks of heterogeneous sensors,” in Proc. Australian Conf. on Robotics and Automation (ACRA 2003), Brisbane QLD, Australia, Dec. pp. 1-3, 2003.
[26] N. Bellotto and H. Hu, “Multisensor-Based Human Detection and Tracking
for Mobile Service Robots,” IEEE Transactions on Systems, Man, and Cybernetics: Part B, Vol. 39, No. 1, pp. 167- 181, 2009.
[27] J. Fritsch, M. Kleinehagenbrock, S. Lang, T. Plötz, GA Fink, and G. Sagerer, “Multi-modal anchoring for human-robot-interaction,” Robotics and
Autonomous Systems, vol. 43, no. 2–3, pp. 133–147, May 2003.
[28] 林子揚，雷射測距儀應用於輪型機器人自動導航，國立中央大學，2010.
[29] K. –H. Lee and R. Ehsani. “Comparison of two 2d laser scanners for sensing object distances, shapes, and surface patterns,” Computers and Electronics in Agriculture, 60(2):250 – 262, 2008.
[30] MobileRobots, Pioneer 3^TM Operations Manual with Renesas SH2-based Controller & ActivMedia’s Robot Control & Operations Software, 2004.

全文公開日期本全文未授權公開 (校內網路)
全文公開日期本全文未授權公開 (校外網路)

簡易檢索 / 詳目顯示

相關論文