Browsing by Author "Chiu, Yu-Heng"

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Navigation Control Design of a Mobile Robot by Integrating Obstacle Avoidance and LiDAR SLAM
(2018-01-01)
Song, Kai-Tai
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Chiu, Yu-Heng
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Kang, Li-Ren
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Song, Shao-Huan
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Yang, Cheng-An
This paper presents a mobile robot navigation control system based on integration of laser SLAM localization and real-time obstacle avoidance control to provide personnel guidance for daily-life services. The LiDAR SLAM localization system is implemented in a ROS software architecture, in which Cartographer SLAM is adopted and the adaptive Monte Carlo localization is employed onboard the robot. An integrated guidance system is proposed in this paper to combine obstacle avoidance and SLAM so that the robot can move to the desired location without colliding with any unexpected obstacles. A safety-weight parameter is used to integrate goal seeking controller with the obstacle avoidance controller. The experimental results show that the robot can localize itself and navigate to the target location while avoiding obstacles on the path.
Scheduling and Control of a Cloud Robot for Reception and Guidance
(2017-01-01)
Song, Kai-Tai
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Chiu, Yu-Heng
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Song, Shao-Huan
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Zinchenko, Kateryna
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電控工程研究所
This paper presents a design for robot task scheduling and human guidance for health checkup application in a hospital. For a health-checkup robot in a hospital, an IC card reader mounted on the robot is used to retrieve user's personal information from the cloud server. After data retrieval, a visiting list in the hospital is automatically scheduled for each patient. Next, the robot guides each user according to the scheduled list. The scheduling is completed by adopting the non-preemptive Priority Scheduling approach. To assure safe human guidance and navigation, the robot uses data from two laser scanners: one is used for robot localization, and the other is used to detect user's leg for guidance. The robot uses Cartographer for localization and mapping. The guidance controller constantly adjusts motion commands depending on the user's position, meanwhile guides the user to the planned destination. The motion commands are executed by robot motion controller. The proposed design has been successfully verified using a prototype mobile robot in the lab environment.