基於環境資訊之被動行動輔具導引與定位

Abstract

人口老化的問題在近年來日趨嚴重，因此銀髮族的看護問題也逐漸成為重要的議題。隨著醫療與科技的進步，各式各樣的行動輔具機器人發展也逐漸成熟。因此，本實驗室近年來積極研究開發i-Go行動輔具，期許未來能給予銀髮族一個更安全舒適的選擇。對於真實的居家環境，周遭障礙物資訊是未知的，我們希望能建置環境地圖以得知環境中的障礙物資訊，再利用此地圖導引使用者，並在過程中給予不同的輔助。在本論文中，我們利用感測器搜集環境資料，結合行動輔具本身的資訊進行全域地圖的繪建，並在下次來到相近的環境時，使用本論文所提出之全域路徑規劃演算法導引使用者安全的抵達目的。此外，利用已建立好之地圖環境資訊與行動輔具的編碼器進行比對，可以重新定位輔具的位置，以減少誤差的累積。最後我們將以上演算法實踐於本實驗室所開發之行動輔具系統，並證明其功效。未來希望能進入醫院或療養院實際幫助有需要的使用者，除了導引使用者前往目的外，也提升其行走的安全性。

The increase of aging population becomes very fast in recent years. How to take care of the elderly is very important for the society. Along with the advancement of the medicine and robot technology, various types of robot walking helpers have been developed. It motivates us to develop a robot walking helper, named i-Go, in our laboratory. For a robot walking helper to be applicable for home-like environments, we first establish a map to comprehend the environment with obstacles. We then use this map to guide the users via the assistive strategies. In this thesis, we utilize the data from laser sensors and the state of the i-Go to build up the map. When the i-Go enters the environment that has been established, we then use the path planning algorithm developed to guide the users to the goal safely. In addition, we also use this map data to compare with those from the encoders of the i-Go to reduce the accumulated position error. These algorithms have been verified via the experiments. We expect that the i-Go can be ready for elderly assistance in the near future.