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標題: | 為失智症老人帶路之多感測器回饋社交輪型機器人 A Social-aware Mobile Robot for Guiding Elders with Dementia using Multi-Sensor Feedback |
作者: | Shih-Hung Tseng 曾士紘 |
指導教授: | 鄭士康(Shyh-Kang Jeng) |
關鍵字: | 人機互動,機器人導航,機器人引導,路徑規劃,人體追蹤, Human Robot Interaction,robot navigation,robot guide,path planning,people tracking, |
出版年 : | 2017 |
學位: | 碩士 |
摘要: | 在本論文中,我們提出了一種新穎的輪型機器人引導系統應用於在醫療照護的環境中護送老年失智症患者。老年失智症患者通常具有空間認知功能障礙,如果機器人可以為他們提供路線引導的服務,醫護人員的負擔勢必可以大幅減少。我們所提出的系統結合了雷射掃描的偵測和深度彩色相機的偵測進而組成一個複合的偵測資訊。為了達到觀察跟隨者長期的行為,我們使用最近鄰追蹤方法和擴展卡爾曼濾波器對跟隨者進行長期的追蹤及預測。同時我們也設計了追隨者監控系統,作為連接機器人感知和導航系統的橋樑。監控系統透過跟隨者當下的位置以及速度來判斷跟隨者的意向,我們將得到的結果轉化為內部系統溝通語言讓導航系統能夠根據此來調整機器人的運動軌跡。導航系統利用了多目標最佳化的方法,讓機器人除了能夠順應跟隨者的動向以外,還能夠持續維持既有的功能。我們透過3D動畫模型來模擬老年失智症患者在帶路的過程中可能會發生的行為,再經由具物理引擎的模擬系統來驗證所提出的系統。由實驗的結果可以觀察到機器人成功的順應著不同的跟隨者動作同時也證明了我們所提出系統的可行性。 In this work, we propose a novel mobile robot guide system that targets for escorting elders with dementia in the healthcare environment. The spatial cognitive disorder is one of the symptoms of elders with dementia; if a robot can provide a guiding service for them, the load of healthcare staff can be significantly reduced. The proposed system uses the Lidar and RGB-D camera on the robot to capture the long-term behavior of the follower. We build up a system called follower state monitor which serves as a bridge of connection between the robot perception and the navigation system. The system determines the intention of the follower by considering its current location and velocity, and the tracked follower motion is translated into internal system message to let the robot adjust its movement. The navigation system exploits the multi-objective optimization method to allows the robot to adapt to the follower while maintaining existing functions. In the simulation, we design animated actor models to mimic the behaviors of elders with dementia. The experiments are conducted through a physical engine simulator and real-world environment to evaluate the proposed system. Experimental results show the system successfully comply with various types of follower motion which demonstrates the proof of concept. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/70715 |
DOI: | 10.6342/NTU201802709 |
全文授權: | 有償授權 |
顯示於系所單位: | 電機工程學系 |
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ntu-106-1.pdf 目前未授權公開取用 | 20.76 MB | Adobe PDF |
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