| Summary: | 碩士 === 國立臺北科技大學 === 機電整合研究所 === 99 === In this paper the robot overall system consists of the wheeled platform FESTO Robotino, headset microphone, webcam and personal computer. The user communicates with the computer through a microphone and issues a command to the robot for the destination. After receiving the command the robot will first explore the space around for possible targets by decoding the color tag using image processing technique, and move to the destination through the method of nearest point connection.
Microsoft Speech SDK system is utilized for speech recognition and synthesis for robot. The user can make a verbal command to the robot through a microphone speaker. The robot can interact with user through the speaker. The main purpose of image processing is to decode the color labels on the targets. When the robot is randomly placed in the space, it can search for these color labels to calculate the nearest target. It moves toward to the nearest point, then re-searches again the space around and moves sequentially until the final destination is met.
If an obstacle is met when robot moves to the target, the robot will take wall following action to avoid the obstacle. Five infra-red sensors in front face of the robot are employed for obstacle detection and for robot wall-following. The sensor voltage is input to the fuzzy controller for controlling the robot''s wheels to wall follow the obstacle.
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