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題 名 | 智慧型機器人主動式導航控制技術=The Technology of Autonomous Guidance for Intelligent Robot |
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作 者 | 呂志偉; 林宜遠; 曾文豪; 石世雄; | 書刊名 | 新新科技年刊 |
卷 期 | 3 2007.01[民96.01] |
頁 次 | 頁109-121 |
分類號 | 448.94 |
關鍵詞 | 機器人; 導航; 機械視覺; Robot; Guidance; Machine-vision; Vision; |
語 文 | 中文(Chinese) |
中文摘要 | 智慧型機器人產業市場潛力大且廣泛,美、日與韓等國已將其列為策略性產業發展,其技術整合應用領域涵蓋資訊、通訊、電子、電機及精密機械等眾多產業。本文提出智慧型機器人主動式導航控制技術,藉由機械視覺進行多目標影像辨識及產生任務目後,透過載具自由性運動軌跡創生,達到導航與避障目的,期間橫跨崎嶇地形,利用調整機構適當調整姿態與重心,最後透過多自由度精密機械手臂完今危害狀況解除。 因此,本文內容包含系統架構介紹含運作時序、使用情境及架構說明:多目標機械視覺影像辨識含機械視覺應用理論及目標追蹤流程;自主性履帶式載具區域導航包含載具運動模式分析及自主性路徑規劃;最後結論說明及未來展望等。 |
英文摘要 | The intelligent robot, which as enormous and massive latent market, has regarded as the key industrial strategy of USA, Japan, Taiwan and Korea etc. The technology and application of the robot includes communication, electronics, electrical machinery, and precision machinery industry etc. This research presents the guidance of hazard-removable robot which uses optical vision to identify the hazard and generate a mission to move the robot to the hazardous place by using the technology of autonomous navigation and obstacle avoidance. When the robot navigates bumpy terrain, it uses adjustable mechanism to adjust the center of gravity and its posture. Finally, the multi-axial robotic arm removes the hazard. Therefore, this paper illustrates the control system of the hazard-removable robot, identification procedure of vision and its application theory, motion mode analysis of carrier and autonomous trajectory planning. And results discussed finally. |
本系統中英文摘要資訊取自各篇刊載內容。