Dynamic Obstacle Avoidance for Robot Walking Helper Based on Distance Information
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...
Main Authors: | , |
---|---|
Other Authors: | |
Format: | Others |
Language: | zh-TW |
Published: |
2012
|
Online Access: | http://ndltd.ncl.edu.tw/handle/08791964313258082530 |
id |
ndltd-TW-101NCTU5449003 |
---|---|
record_format |
oai_dc |
spelling |
ndltd-TW-101NCTU54490032016-03-28T04:20:52Z http://ndltd.ncl.edu.tw/handle/08791964313258082530 Dynamic Obstacle Avoidance for Robot Walking Helper Based on Distance Information 基於距離資訊之行動輔助機器人動態避障 Gau, Yi-Ting 高毓廷 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. Young, Kuu-Young 楊谷洋 2012 學位論文 ; thesis 89 zh-TW |
collection |
NDLTD |
language |
zh-TW |
format |
Others
|
sources |
NDLTD |
description |
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.
|
author2 |
Young, Kuu-Young |
author_facet |
Young, Kuu-Young Gau, Yi-Ting 高毓廷 |
author |
Gau, Yi-Ting 高毓廷 |
spellingShingle |
Gau, Yi-Ting 高毓廷 Dynamic Obstacle Avoidance for Robot Walking Helper Based on Distance Information |
author_sort |
Gau, Yi-Ting |
title |
Dynamic Obstacle Avoidance for Robot Walking Helper Based on Distance Information |
title_short |
Dynamic Obstacle Avoidance for Robot Walking Helper Based on Distance Information |
title_full |
Dynamic Obstacle Avoidance for Robot Walking Helper Based on Distance Information |
title_fullStr |
Dynamic Obstacle Avoidance for Robot Walking Helper Based on Distance Information |
title_full_unstemmed |
Dynamic Obstacle Avoidance for Robot Walking Helper Based on Distance Information |
title_sort |
dynamic obstacle avoidance for robot walking helper based on distance information |
publishDate |
2012 |
url |
http://ndltd.ncl.edu.tw/handle/08791964313258082530 |
work_keys_str_mv |
AT gauyiting dynamicobstacleavoidanceforrobotwalkinghelperbasedondistanceinformation AT gāoyùtíng dynamicobstacleavoidanceforrobotwalkinghelperbasedondistanceinformation AT gauyiting jīyújùlízīxùnzhīxíngdòngfǔzhùjīqìréndòngtàibìzhàng AT gāoyùtíng jīyújùlízīxùnzhīxíngdòngfǔzhùjīqìréndòngtàibìzhàng |
_version_ |
1718213813996617728 |