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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/7881
Title: | 多感測模態機器人之人物辨識及跟隨 Human Recognition and Following of a Robot with Multi-Sensing Models |
Authors: | Chon-Kit Kuok 郭俊傑 |
Advisor: | 黃漢邦 |
Keyword: | 使用者辨識,人機互動,跟隨,行動式機器人,多模態融合, User Recognition,Human-Robot Interaction,Following,Mobile Robot,Multimodal Fusion, |
Publication Year : | 2016 |
Degree: | 碩士 |
Abstract: | 近年來,機器人已經融入人類生活中,而服務型機器人的發展是為了讓人類的生活更舒適便利。與此同時,機器人也不只是單純的機器,機器人應該具備與人互動以及在環境順暢移動的能力。本篇論文旨在發展一個跟隨機器人,此機器人能夠跟隨特定使用者,並能自動搜尋此使用者。我們使用SLAMMOT使機器人能了解自身週遭環境位置,以及使用者的位置。當機器人丟失跟隨目標時,機器人能尋找使用者,令使用者能重新進入機器人的視線後重新跟隨。
本篇論文也提出使用者的辨認方法,讓機器人能夠辨識特定使用者,使機器人不會認錯要跟踪的使用者。所建構的跟隨機器人系統,經實驗驗證具有不錯的效果。 In recent years, robots are assimilated into humans’ life. Service robots are built for making people more convenient and more comfortable. A robot is not just a machine. It should be capable of interacting with people appropriately and moving in the surroundings smoothly. This thesis attempts to develop a shopping assistant robot system. It can recognize a specific user, automatically follow him and search for him. SLAMMOT is used in the robot for understanding environments, localizing itself and locating the user. If the robot loses the tracking user, it searches for the user and causes the user can be found in the view of the robot. In addition, the human recognition system is constructed to recognize the specific user. The proposed system has been justified in experiments. The results are promising. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/7881 |
DOI: | 10.6342/NTU201602427 |
Fulltext Rights: | 同意授權(全球公開) |
Appears in Collections: | 機械工程學系 |
Files in This Item:
File | Size | Format | |
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ntu-105-1.pdf | 3.35 MB | Adobe PDF | View/Open |
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