研究生: |
顏愷君 Yen, Kai-Chun |
---|---|
論文名稱: |
基於3D特徵地圖之分散式架構巡邏履帶式機器人 A Navigation Tracked Robot Based on 3D Feature Map Using Distributed Computing |
指導教授: |
王偉彥
Wang, Wei-Yen 許陳鑑 Hsu, Chen-Chien |
學位類別: |
碩士 Master |
系所名稱: |
電機工程學系 Department of Electrical Engineering |
論文出版年: | 2017 |
畢業學年度: | 105 |
語文別: | 中文 |
論文頁數: | 90 |
中文關鍵詞: | 履帶式機器人 、ROS 、攀爬樓梯 、導航 |
英文關鍵詞: | tracked robot, ROS, stair climbing, navigation |
DOI URL: | https://doi.org/10.6345/NTNU202202696 |
論文種類: | 學術論文 |
相關次數: | 點閱:96 下載:6 |
分享至: |
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 |
本論文主要是設計並開發履帶式機器人之軟體、硬體架構,能於已知的室內環境中進行巡邏導航的功能,並能夠完成攀爬樓梯的任務。硬體方面為全新製作的履帶式機器人,除了在動力方面有所提升外,透過碳纖維的車身以及鋁合金的材質提供足夠強健的車體結構,並增加履帶的寬度強化與地面之間的磨擦力,能夠更穩健的攀爬樓梯;軟體方面,透過ROS的架構來開發履帶機器人的功能,基於此架構我們可以將一個複雜的程序規劃成多個部分來處理,像是感測器資料的接收、不同的演算法、機器人的控制等,將功能模組化,使用上有更大的彈性,並於功能上整合路徑規劃和影像定位,在機器人行走過程中,可以即時的監看Xtion所拍攝到的畫面,實現巡邏導航的功能,最後,經由實驗來驗證自製的履帶機器人有足夠能力完成跨樓層巡邏的任務。
This paper aims to design and develop both software and hardware architectures of a tracked robot such that it is capable of navigating in an indoor environment as well as climbing stairs. Regarding hardware developments, a brand-new tracked robot is designed to improve the dynamics of motors and increase the frictional forces of the tracks. Moreover, a more reliable structure is made by using carbon-fiber as well as aluminum alloy. As for software developments, Robot Operating System (ROS) is employed to provide a computing interface for several algorithms. As such, since a complicated program can be operated in parallel by different modules including receiving sensor measurements, stairs-climbing algorithms, and motion control, the overall design flexibilities can be increased. Integrated with path planning and vision-based localization algorithm, the robot is able to navigate in an indoor environment, and users can monitor the images captured by an Xtion RGB-D camera in real time as well. To verify the robustness of the proposed tracked robot, various experiments are conducted, and experimental results show that the robot is well-developed in terms of navigation and roaming between floors.
[1] Y. Liu and G. Liu, “Interaction analysis and online tip-over avoidance for a reconfigurable tracked mobile modular manipulator negotiating slopes,” IEEE/ASME Trans. on Mechatronics, vol. 15, no. 4, pp. 623-635, Aug. 2010.
[2] A. I. Mourikis, N. Trawny, S. I. Roumeliotis, D. M. Helmick, and L. Matthies, “Autonomous stair climbing for tracked vehicles,” International Journal of Robotics Research, vol. 26, no. 7, pp. 737-758, July 2007.
[3] Y. Li, C. Li, and P. Chen, “Research and design of control system for a tracked sar robot under coal mine,” in Proc. IEEE International Conference on Automation and Logistics Shenyang, China, Aug. 2009, pp. 1957-1961.
[4] H. H. Zhao, X. G. Duan, and G. Yang, “Kinematics and dynamics modeling of a small mobile robot with tracked locomotion mode,” in Proc. IEEE International Conference on Robotics and Biomimetics, Tianjin, China, Dec. 2010, pp. 14-18.
[5] H. Y. Liu, W. J. Wang, and R.-J. Wang, “A course in simulation and demonstration of humanoid robot motion,” IEEE Trans. on Education, vol. 54, no. 2, pp. 255-262, May 2011.
[6] P. Biber, S. Fleck, and T. Duckett, “3D modeling of indoor environments for a robotic security guard,” in Proc. IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR’05), San Diego, 2005, pp. 124-124.
[7] J. N. K. Liu, M. Wang, and B. Feng, “Ibotguard: an internet-based intelligent robot security system using invariant face recognition against intruder,” IEEE Trans. on Systems, Man, and Cybernetics-Part C: Applications and Reviews, vol. 35, no. 1, Feb. 2005.
[8] iRobot Home Cleaning Robots, URL: http://store.irobot.com/home/index.jsp
[9] Pepper the robot, URL: https://www.aldebaran.com/en/a-robots/who-is-pepper
[10] M. Quigley, K. Conley, B. Gerkey, J. Faust, T. Foote, J. Leibs, R. Wheeler, and A. Y. Ng, “ROS: An open-source robot operating system,” in Proc. ICRA Workshop Open Source Software, 2009, pp. 1-6
[11] S. Cousins, B. Gerkey, K. Conley, and W. Garage, “Sharing software with ROS,” IEEE Robot. Automat. Mag, vol. 17, no. 2, pp. 12-14, June 2010.
[12] I. Vincent and Q. Sun, “A combined reactive and reinforcement learning controller for an autonomous tracked vehicle,” Robotics and Autonomous Systems, vol. 60, pp. 599-608, 2012.
[13] Y. Cong, X. Li, J. Liu, and Y. Tang, “A stairway detection algorithm based on vision for ugv stair climbing,” in Proc. IEEE International Conference on Networking Sensing and Control, Sanya, April 2008, pp. 1806-1811.
[14] Y. Liu and G. Liu, “Track-stair interaction analysis and online tip over prediction for a self-reconfigurable tracked mobile robot climbing stairs,” IEEE/ASME Trans. on Mechatronics, vol. 14, no. 5, pp. 528-538, Oct. 2009.
[15] 曾建凱,“應用於樓梯偵測與攀爬之主動式履帶機器人開發”,國立臺灣師範大學工業教育學系碩士論文,102年7月。
[16] I-H. Li, W.-Y. Wang, and C.-K. Tseng, “A Kinect-sensor-based tracked robot for exploring and climbing stairs,” International Journal of Advanced Robotic Systems, vol. 11, no. 80, pp. 1-11, 2014.
[17] 蕭智偉,“主動式履帶機器人應用於連續樓梯攀爬與避障策略之研究”,國立臺灣師範大學電機工程學系碩士論文,104年7月。
[18] C.-W. Hsiao, Y.-H. Chien, W.-Y. Wang, I-H. Li, M.-C. Chen, and S.-F. Su, “Wall Following and Continuously Stair Climbing Systems for a Tracked Robot,” IEEE International Conference on Networking, Sensing and Control, 2015, pp. 371-375.
[19] E. Dijkstra, “A note on two problems in connexion with graphs,” Numerische mathematik, vol. 1, no. 1, pp. 269-271, 1959.
[20] E.W. Dijkstra, E. W. Dijkstra, L. Lamport, A. J. Martin, C. S. Scholten and E. F. M. Steffens, “On-The-Fly Garbage Collection: An Exercise in Cooperation,” Comm. ACM, vol. 21, no. 11, pp. 966-975, 1978.
[21] N. Jasika, N. Alispahic, E. Arslanagic, K. Ilvana, L. Elma and N. Nosovic, “Dijkstra's shortest path algorithm serial and parallel execution performance analysis,” MIPRO, Opatija, 2012, pp.1811-1815.
[22] W. Zeng and R. L. Church, “Finding shortest paths on real road networks: the case for A*,” International Journal of Geographical Information Science, vol. 23, no. 4, pp.531-543, 2009.
[23] J. Yao, C. Lin, X. Xie, A. Wang, and C. C. Hung, “Path planning for virtual human motion using improved a star algorithm,” in Information Technology: New Generations (ITNG), 2010 Seventh International Conference, Las Vegas, 2010, pp. 1154-1158.
[24] C. Wang, “Path planning of automated guided vehicles based on improved A-Star algorithm,” Information and Automation, Lijiang, 2015, pp. 8-10.
[25] I. Pohl, “First results on the effect of error in heuristic search,” Machine Intelligence, vol. 5, pp. 219-236, 1970.
[26] P. E. Hart, N. J. Nilsson and B. Raphael, “A formal basis for the Heuristic determination of minimum cost paths,” IEEE Transactions on Systems Science and Cybernetics, vol. 4, no. 2, pp.100-107, 1968.
[27] P. Barsocchi, S. Lenzi, S. Chessa and G. Giunta, “A Novel Approach to Indoor RSSI Localization by Automatic Calibration of the Wireless Propagation Model,” Vehicular Technology Conference, Barcelona, 2009, pp. 1-5.
[28] Z. Yang, C. Wu and Y. Liu, “Locating in fingerprint space: wireless indoor localization with little human intervention,” Proceedings of the 18th annual international conference on Mobile computing and networking, vol. 14, no. 2, pp. 269-280, 2014.
[29] 簡江恆,“視覺型同時定位與建圖及其在FPFA上的實現”,國立臺灣師範大學電機工程學系碩士論文,106年7月。
[30] 北河企業有限公司,URL: http://www.nrc.com.tw/
[31] UDOO Dual and Quad – UDOO, URL: http://www.udoo.org/udoo-dual-and-quad/
[32] MX28 , URL: http://www.trossenrobotics.com/dynamixel-mx-28-robot-actuator.aspx
[33] 多媒體產品 | Xtion PRO LIVE | ASUS 台灣,網址:https://www.asus.com/tw/Multimedia/Xtion_PRO_LIVE/overview/
[34] Cooper Maa: HC-SR04 超音波感測器介紹,網址:http://coopermaa2nd.blogspot.tw/2012/09/hc-sr04.html
[35] arduino | Michele Marolla | Pagina 4, URL: https://tuixte.wordpress.com/tag/arduino-2/page/4/
[36] 魏楷燁,“使用分散式計算之室內環境探索機器人”,國立臺灣師範大學電機工程學系碩士論文,106年7月。