Browsing by Author "Yang, Cheng-An"

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Control Design for Robotic Human-Following and Obstacle Avoidance Using an RGB-D Camera
(2019-01-01)
Yang, Cheng-An
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Song, Kai-Tai
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電控工程研究所
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Institute of Electrical and Control Engineering
The task of robotic human-following requires a mobile robot to detect and follow the selected target person and maintain an appropriate distance to the person. In practical applications, the robot must continuously estimate the target location considering unexpected obstacles to keep stable human-following control. This paper proposes to combine human-following control with obstacle avoidance, so that the robot can avoid obstacles while simultaneously follow the target person. In this design, obstacle as well as human features are obtained by using a RGB-D camera. A deep neural network(DNN) model works to detect and identify the user in the environment. An improved artificial potential field (APF) is applied to robot motion planning by integrating the target human position and obstacle information. Practical experiments on a mobile robot verified the proposed method. The robot can follow the user stably while avoiding obstacles in an indoor environment.
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 Wafer Transfer Robot for Foundry Equipment Innovation Competition
(2019-01-01)
Song, Kai-Tai
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Ou, Song-Qing
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Yang, Cheng-An
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Sun, Yu-Xuan
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Kang, Li-Ren
This paper presents a design and implementation of a wafer transfer robotic system for a Foundry Equipment Innovation Competition. In this system, a 4-DOF robotic arm was designed and constructed for wafer transfer between a cassette and processing chambers. The purpose of this competition was to promote intelligent automation for wafer fabrication, in which multiple wafers and chambers need to be handled simultaneously. A scheduling algorithm is proposed for efficient task execution of wafer to process recipes assigned during the competition. The task also features to integrate defect detection and endpoint determination of wafer processing. The robot was required to receive the processing data from the mission platform to determine the endpoint of wafer processing in a chamber and complete the recipe automatically. The online inspection algorithm detects wafer defects during the task execution and report to the task planner. The state of each wafer and chamber are taken into consideration for scheduling in order to complete the wafer fabrication in an efficient and flexible manner. The developed robotic system spent 9 minutes to complete the assigned mission of transferring 6 wafers among multiple chambers and 2 cassettes and achieved 93.4% defect-detection rate in the competition. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.