全向運動之家用機器人分享控制器設計

Abstract

透過機器人身上所裝置的單一攝影機來進行移動式機器人遠距遙控時，由於僅依賴有限的視野進行遙控，很容易導致機器人碰撞障礙物。因此，本論文藉由遙控與自主控制系統的分享控制設計，輔助使用者控制機器人的運動，降低操作的難度，並提升在複雜環境中移動效率。全向式移動平台的優勢在於能夠在空間中保持一定的朝向並進行任意方向的移動，本論文透過智慧型平板電腦來設計人機介面，讓使用者可以透過互動式的觸碰螢幕來介入全向式移動機器人的運動控制。本論文透過計算使用者的信心因子(Confidence factor)來決定使用者與自主系統之間的互動增益分布，達成分享控制器的目標。機器人自主系統的輔助能夠補足使用者在遙控全向式機器人時現場環境資訊不足所造成缺失。論文中以實驗驗證所設計之分享控制系統在全向式移動機器人遠距遙控的性能，實驗結果顯示分享控制可以協助使用者更容易控制機器人並更精準遙控機器人到目標位置。

It is usually difficult to remotely control of a mobile robot using only an onboard camera. The robot can easily bump into an obstacle due to limited view angle of the on-site scene. The thesis presents a shared-control architecture for effective remote control an omnidirectional mobile platform. The platform is able to move in any direction without changing robot’s heading, such that a stable camera scene is available for remote control. A user interface is designed to use smart phone/tablet to remote control the robot by the interactive touch screen. The proposed controller determines the human and robot interactive gains by computing user’s confidence factor. In this approach, the robot assists a user to manipulate its motion, and compensates local insufficiency of human remote control for omnidirectional mobility. The experiment validates the proposed design and demonstrates that shared-control approach of an omnidirectional platform can have practical use for home service tasks.