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研究生: 曾建凱
Tseng, Cheng-Kai
論文名稱: 應用於樓梯偵測與攀爬之主動式履帶機器人開發
Applications of Staircase Detection and Stair Climbing for An Autonomous Tracked Robot
指導教授: 王偉彥
Wang, Wei-Yen
黃政吉
Huang, Jeng-Ji
學位類別: 碩士
Master
系所名稱: 工業教育學系
Department of Industrial Education
論文出版年: 2013
畢業學年度: 101
語文別: 中文
論文頁數: 99
中文關鍵詞: 履帶式機器人Kinect感測器樓梯攀爬系統模糊控制
論文種類: 學術論文
相關次數: 點閱:195下載:14
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  • 目前自主式移動機器人種類與功能越來越多樣化,本文主要強調自製履帶式機器人的功能與實用性。我們所提出的履帶式機器人能夠在未知環境或是崎嶇不平的路面上自主地於樓梯和斜坡移動。目前大部份智慧型機器人在未知環境中尋找目標物或辨識物體需靠CCD去辨識,然而在顏色複雜環境下會導致辨識效果大幅度降底,本論文藉由Kinect感測器讀取目標物的深度資訊進行不同類型的路面辨識。此外,針對一般具樓梯通道大樓,為了要有效完成大樓的巡邏,本論文設計四種動作模式以解決機器人上下樓梯的問題,模式包含了探索模式、對準模式、計算傾斜角度模式與攀爬模式。為了履帶式機器人在探索模式中能更平滑朝著樓梯前進,本文使用模糊控制器於探索模式中,藉由專家知識來定義左履帶與右履帶轉速之輸出,達到較平滑路徑之行走。最後,利用在未知環境中搜尋樓梯並完成上下樓梯的實驗來驗證本篇論文所提出智慧型機器人之行為模式與方法的有效性。

    中文摘要 i 英文摘要 ii 致謝 iii 目錄 iv 表目錄 vii 圖目錄 viii 第一章  緒論 1 1.1前言 1 1.2研究目的與文獻探討 2 1.3論文架構 7 第二章  履帶式機器人之軟、硬體系統架構與設計 8 2.1機器人機構 8 2.1.1 機器人履帶膠塊 10 2.2 馬達動力系統 11 2.2.1 馬達驅動器 11 2.2.2 馬達規格配置 13 2.2.3 馬達控制系統 14 2.3 馬達程式設計 14 2.4 電源系統 19 2.5 Kinect感測器 20 2.5.1 Kinect馬達 21 2.5.2 Kinect深度感測器與RGB視訊攝影機 22 2.5.3 Kinect電源系統 23 2.6 紅外線測距儀 24 2.7 OpenNI的架構設定 27 第三章  模糊控制 29 3.1 模糊控制之理論背景 29 3.2 模糊控制器基本架構 30 3.3 模糊化之策略 30 3.4 模糊推論引擎 32 3.5 模糊知識庫 33 3.6 去模糊化 34 第四章  履帶式機器人行為模式之設計 35 4.1履帶式機器人上樓梯模式設計 35 4.1.1 探索模式設計-上樓梯 36 4.1.1.1階段式探索模式 41 4.1.1.2 模糊控制之智慧型探索模式 42 4.1.2 對準模式設計-上樓梯 43 4.1.3 計算傾斜角度模式設計-上樓梯 45 4.1.4 攀爬模式設計-上樓梯 49 4.1.4.1攀爬前準備動作設計 49 4.1.4.2攀爬中對準樓梯機制設計 50 4.1.4.3攀登樓梯設計 52 4.2履帶式機器人下樓梯模式設計 53 4.2.1探索模式設計-下樓梯 54 4.2.2對準模式設計-下樓梯 54 4.2.3計算傾斜角度模式設計-下樓梯 55 4.2.4下樓梯模式設計 55 4.2.4.1 下樓梯前準備動作設計 56 4.2.4.2 下樓梯之對準樓梯機制設計 57 4.2.4.3 下樓梯設計 57 第五章  實驗結果與討論 59 5.1履帶式機器人上樓梯實驗 59 5.1.1探索模式實驗 62 5.1.1.1 階段式探索模式實驗 63 5.1.1.2 模糊控制之智慧型探索模式實驗 66 5.1.2對準模式實驗 70 5.1.3計算傾斜角度實驗 72 5.1.4攀爬模式實驗 73 5.2履帶式機器人下樓梯實驗 76 5.2.1探索模式實驗 78 5.2.2對準模式實驗 79 5.2.3計算傾斜角度實驗 80 5.2.4下樓梯實驗 81 5.3不同環境背景之實驗結果 88 5.3.1不同規格之樓梯 88 5.4夜間實驗 90 第六章  結論與未來展望 93 6.1 結論 93 6.2 未來展望 94 參考文獻 95 自傳 99

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