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標題Title: CACS 2008 paper - Design and Implementation of an Intelligent Interactive Home Robot
作者Authors: 謝銘原
上傳單位Department: 電機工程系
上傳時間Date: 2009-11-24
上傳者Author: 謝銘原
審核單位Department: 電機工程系
審核老師Teacher: 謝銘原
檔案類型Categories: 論文Thesis
關鍵詞Keyword: CACS 2008, Multi-sensory system, Navigation, Image, recognition, Home robot, Human-robot interaction.
摘要Abstract: This paper presents the design and implementation
of an intelligent interactive home robot based on
multi-sensory system. In order to accomplish basic home
services, the robot is designed to have the functions of environmental
map construction, autonomous navigation,
collision-free control, and human-robot interaction. For
environmental sensing and object tracking, a series of image
features recognition procedures are used to establish
the database of objective images. By integrating image information
of objectives and ground lines, the robot can
determine the relative localities of specific objectives and
then perform environmental map construction and robot
localization. Moreover, the user can also control the robot
remotely to navigate and construct the environmental map
through the interaction website. Besides, in order to let the
robot adapt to various environments, there are fuzzy long
and short range obstacle avoidance control systems designed
in the robot to avoid collision and/or downfall
whenever it performs navigation or tracking. By combining
these sensory and image recognition functions, the proposed
robot really has the rudiments of vision,
multi-sensing and interactive integration. The experimental
results demonstrate the environmental adaptability of
the robot; these also show such kind of robot can provide
plentiful home entertainments.

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2009_11_104e8640.pdf 537Kb pdf 293 186
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