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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 傅立成(Li-Chen Fu) | |
| dc.contributor.author | Chun-Tang Yang | en |
| dc.contributor.author | 楊竣棠 | zh_TW |
| dc.date.accessioned | 2021-07-11T15:28:26Z | - |
| dc.date.available | 2021-08-23 | |
| dc.date.copyright | 2018-08-23 | |
| dc.date.issued | 2018 | |
| dc.date.submitted | 2018-08-19 | |
| dc.identifier.citation | [1] Dirk Helbing and Péter Molnár. Social force model for pedestrian dynamics. Phys. Rev. E 51, 1988.
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/78909 | - |
| dc.description.abstract | 此篇論文提出一個基於情境感知的智慧機器人全向性移動導航,隨著近年機器人研究與現實應用,機器人與人共享空間的機會有了飛躍的成長,如何在未知且複雜的有人環境中,感知障礙物的位置與人的移動做出應對的移動行為成為機器人導航的目標。從社交研究中可得知,人的移動是為全向性的,我們基於此全向性的移動能力去定義機器人的行為從而達到自然的移動方式,接著利用雷射測距儀與相機作為感測器,偵測環境與人的行為資訊與情境。在感測情境上,使用雷射測距儀得到的資料建立環境模型,確立障礙物與人的距離和方位,同時利用相機的影像資訊取得人的面向與身體朝向,建立更精確的個人人類模型,再以個人模型組成群組模型為人潮流動做分析,而以此環境模型與人類模型作為情境,機器人將執行合適的導航行為。在機器人與環境、人的互動中,我們引用社交力的概念,此社交力可分為社交吸引力與社交排斥力,藉由社交力的總和驅使機器人移動,社交力的大小與方向將藉由人、物與機器人的相對關係決定,而與以往社交力不同,我們加入全向性移動的特性,提出延伸的旋轉社交力,進而得以考慮社交移動中的舒適度、自然性。最後,在多人且居家環境中的模擬與實驗驗證情境感知之全向性導航的可靠性與可行性。 | zh_TW |
| dc.description.provenance | Made available in DSpace on 2021-07-11T15:28:26Z (GMT). No. of bitstreams: 1 ntu-107-R03943140-1.pdf: 3514128 bytes, checksum: a4f6016c40337bf7bbc137463c427569 (MD5) Previous issue date: 2018 | en |
| dc.description.tableofcontents | 口試委員會審定書 #
誌謝 i 中文摘要 ii ABSTRACT iii CONTENTS iv LIST OF FIGURES vii LIST OF TABLES ix Chapter 1 1 1.1 Motivation 1 1.2 Related Works 3 1.2.1 Human Comfort 3 1.2.2 Natural Motions 6 1.2.3 Behavior of Sociability 11 1.3 Objectives 13 1.4 Thesis Organization 15 Chapter 2 16 2.1 Omnidirectional Mobile Robot 16 2.1.1 Hardware Design 16 2.1.2 Omnidirectional Movement 19 2.2 Human Tracking System 21 2.2.1 Human Detection and Tracking 21 2.2.2 Human Skeleton Keypoints Estimation 25 2.3 Social Force Model 27 2.4 Gap Analyzing 29 2.5 Multi-Policy Decision Making 31 2.5.1 Multi-Policy Decision Making 31 2.5.2 The Cost Function 33 Chapter 3 34 3.1 System Architecture 34 3.2 Human Model Construction 37 3.2.1 Individual Model Construction 37 3.2.2 Dynamic Group Model Construction 40 3.3 Extended Social Force Model 47 3.3.1 Observation and Discussion of Social Force Model 48 3.3.2 Rotation Social Force 50 3.4 Robot Behavior Design 53 3.4.1 Go-Forward Behavior 54 3.4.2 Follow Agent Behavior 55 3.4.3 Wall Following Behavior 57 3.4.4 Stop Behavior 58 3.5 Socially-Aware MDPM-based Motion Planner 58 Chapter 4 61 4.1 Implementation 61 4.2 Experiment 1 (Human and Group Model Construction) 62 4.3 Experiment 2 (Agent/Group Following Behavior) 67 4.4 Experiment 3 (Wall Following Behavior) 69 4.5 Experiment 4 (Stop Behavior) 72 4.6 Evaluation and Discussion 76 Chapter 5 76 REFERENCE 78 | |
| dc.language.iso | zh-TW | |
| dc.subject | 人機互動 | zh_TW |
| dc.subject | 全向性移動 | zh_TW |
| dc.subject | 情境感知 | zh_TW |
| dc.subject | omnidirectional movement | en |
| dc.subject | socially aware | en |
| dc.subject | humna-robot interaction | en |
| dc.title | 使用延伸社交力模型之社交感知全向性移動機器人導航應用於多人環境 | zh_TW |
| dc.title | Socially-Aware Navigation of Omnidirectional Mobile Robot with Extended Social Force Model in Multi-Human Environment | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 106-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 施吉昇(Chi-Sheng Shih),林沛群(Pei-Chun Lin),簡忠漢(Jong-Hann Jean),王傑智(Chieh-Chih Wang) | |
| dc.subject.keyword | 情境感知,全向性移動,人機互動, | zh_TW |
| dc.subject.keyword | omnidirectional movement,humna-robot interaction,socially aware, | en |
| dc.relation.page | 84 | |
| dc.identifier.doi | 10.6342/NTU201804006 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2018-08-19 | |
| dc.contributor.author-college | 電機資訊學院 | zh_TW |
| dc.contributor.author-dept | 電機工程學研究所 | zh_TW |
| 顯示於系所單位： | 電機工程學系 | |
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