Erect Stair Climbing Robot with 3D SLAM for Indoor Cross-Floor Services

• Main Authors: Che-Wei Liu, 劉哲瑋
• Other Authors: Ren C. Luo
• Format: Others
• Language: en_US
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/00191461330522314632

碩士 === 國立臺灣大學 === 電機工程學研究所 === 102 === Service robot becomes more important issues in recent years. There are many indoor service robots have been developed. Most of those service robots only can perform tasks on the single floor and on the flat ground. Therefore, we develop an indoor climbing robot that can move smoothly on the flat ground like indoor mobile robot and have ability of climbing up and down stairs. In previous work, we test the ability of climbing up stair and propose an up-stair recognition algorithm. However, it is not enough for stair climbing robot to perform indoor cross-floor services. In order to perform indoor cross-floor services, stair climbing robot must have some basic abilities. 1) ability to travel around on the flat ground. 2) ability to climbing up and down stairs. 3) ability to recognize stairs. In this thesis, we complete tasks that have not been done before. First, we test ability of climbing down stairs and make stair climbing robot to climb stairs more stable than ever. Second, besides up-stair recognition algorithm, we also complete down-stair recognition algorithm. Finally, we propose a 3D SLAM (Simultaneous Localization and Mapping) algorithm with information of parameters of stair model. In summary, we achieve basic abilities for stair climbing robot to perform indoor cross-floor services separately. It is very significant for stair climbing robot. We hope that we can make stair climbing robot to perform more applications in the future based on those basic abilities.