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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:123下載:6
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  • 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.

    目  錄 摘  要 i ABSTRACT ii 誌  謝 iii 目  錄 iv 圖目錄 vii 表目錄 x 第一章 緒論 1 1.1 研究動機與背景 1 1.2 文獻探討 2 1.2.1 相關機器人之回顧 2 1.2.2 路徑規劃 4 1.2.3 機器人定位方法 5 1.2.4 SIFT演算法介紹 7 1.2.5 基於線性模型之V-SLAM系統 8 1.3 論文架構 10 第二章 履帶式機器人硬體架構與設計 12 2.1 機器人機構 12 2.2 控制核心 16 2.3 馬達動力系統 17 2.3.1 馬達規格介紹 17 2.3.2 馬達控制架構 18 2.3.3 馬達控制指令 20 2.4 雲台馬達 21 2.5 電源系統 22 2.6 感測器介紹 23 2.6.1 Xtion感測器 23 2.6.2 超音波感測器 25 2.7 AP Router 27 第三章 ROS分散式架構設計 30 3.1 ROS機器人作業系統 30 3.2 履帶機器人之ROS系統架構 33 第四章 視覺式巡邏導航功能設計 39 4.1 路徑規劃 39 4.1.1 A*路徑規劃演算法 39 4.1.2 A*路徑規劃結合侵蝕膨脹 46 4.2 視覺定位 50 4.2.1 三維環境地圖 50 4.2.2 定位流程 51 4.3 導航系統流程 54 4.4 攀爬樓梯功能 59 4.4.1 上樓模式 59 4.4.2 下樓模式 61 第五章 實驗結果與討論 64 5.1 實驗環境 64 5.2 履帶機器人機構實驗 66 5.3 導航實驗 68 5.3.1 路徑規劃實驗 68 5.3.2 SIFT演算法比對實驗 71 5.3.3 比對影像之導航實驗 73 5.3.4 視覺導航 77 5.4 攀爬樓梯實驗 80 5.4.1 上樓模式 80 第六章 結論與未來展望 83 6.1 結論 83 6.2 未來展望 83 參考文獻 85 自  傳 89 學術成就 90

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