碩士 / 國立中興大學 / 電機工程學系所 / 96 / 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.
| Identifer | oai:union.ndltd.org:TW/096NCHU5441078 |
| Creators | Yu-Chun Feng, 馮煜鈞 |
| Contributors | Ching-Chih Tsai, 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 | 103 |
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