Dynamic Obstacle Avoidance for Robot Walking Helper Based on Distance Information

• Main Authors: Gau, Yi-Ting, 高毓廷
• Other Authors: Young, Kuu-Young
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/08791964313258082530

碩士 === 國立交通大學 === 電控工程研究所 === 101 === The problem of aging population becomes more serious nowadays. With their age growing, the elderly are with the degrading health conditions that may not allow them to walk steadily. Along with the progress of the robot technology, robot walking helpers have been developed. It thus motivates us to develop a robot walking helper, named i-Go for assisting the daily lives of the elderly. To protect the elderly during walking, in this thesis, we first develop an obstacle recognition system which can accurately identify the size, location and speed of the obstacles the distance information between the obstacles and robot. We then propose a dynamic obstacle avoidance and guidance algorithm, which combines velocity obstacles and artificial potential field algorithms, to provide a reference path avoids the obstacles during guidance. Experiments are performed to verify this scheme. In the near future, we expect the i-Go can assist the elderly in their daily lives.