碩士 / 國立中興大學 / 電機工程學系所 / 95 / 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.
| Identifer | oai:union.ndltd.org:TW/095NCHU5441019 |
| Date | January 2007 |
| Creators | Ssu-Min Hu, 胡斯閔 |
| Contributors | 蔡清池 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | en_US |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 110 |
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