本論文以身心殘障者「行」的能力為出發點，基於路徑規劃、Wi-Fi定位技術、及機器人控制等之整合，發展出一智慧能力之輪椅機器人室內即時導航系統。藉由無所不在的Wi-Fi無線網路佈建作為定位的基礎，具有較不拘泥於空間條件的優勢，再取其佈建價廉無所不在的特性，是為定位技術的優秀選擇。本研究以接收訊號強度(RSSI)估算輪椅機器人與障礙物的位置，在已知環境知障礙空間中，擷取特徵地圖，以廣義Voronoi結構劃分(GVD)生成拓樸地圖，再透過D* Lite動態路徑規則演算法在地圖資訊中即時地規則一條可避開動態障礙物的路徑，其具有動態避障及最低成本路徑之特色。最後，修改一現成電動輪椅之電路與控制策略，使其能與場域中之Wi-Fi定位與動態路徑規劃互相連節配合，利用UDP無線通訊協定發送控制指令，令輪椅機器人循所規劃之動態路徑安全地到達目的地。整合工作完成，實驗結果顯示，在三個子系統獨立運作良好，且相互配合，功能符合預期，然因Wi-Fi定位系統精度難以突破，無法精確導航，尚缺臨門一腳。

Evidenced by the importance of the mobility in human-beings' life, the study sought to develop an intelligent mobile robotic system which could autonomously navigate a wheelchair in various indoor environment. The system, integrated several techniques of robotic path planning, Wi-Fi localization, and robot control together, tries to get aids for human-beings, especially for those difficult in traversing their living space. Based on an ubiquitous Wi-Fi which has been deployed widely in existing infrastructure and is intrinsically RF propagated in the working space, the Wi-Fi localization can be promisingly in the use of indoor navigation to locate the stuffs, including the wheelchair, in the space. As the known configuration of the space, a path planner D* lite together with its prior generalized Voronoi diagram (GVD) tessellation were employed for planning the path. A wheelchair is thus remodeled with a compliant controller as an automated vehicle to be guided to follow the planned path. The application emphasizes that the motion of the wheelchair can dynamically react to the changes of the obstacle configuration even change the corresponded route to reach the goal. In the study, the developed techniques can work well independently with one exception when they integrated together. Due to low precision and slow response of the Wi-Fi localization, there are no suffciently reliable references of the stuffs to recover the environment and configure the space. It finally makes the steps can not be followed up even if they have been well-established.

目錄
中文摘要I
英文摘要II
目錄IV
圖目錄VII
表目錄XI
第一章 緒論 1
1-1. 前言 1
1-2. 研究動機與目的 1
1-3. 文獻探討 2
第二章 系統整體描述	 5
2-1. 系統架構 5
2-2. 系統組成 6
第三章 原理基礎 8
3-1. Wi-Fi定位原理 8
3-1-1. 三角理論 8
3-1-2. 到達時間測量法 10
3-1-3. 到達時間差測量法 10
3-1-4. 接收訊號強度指示法 11
3-2. 路徑搜尋演算法 12
3-2-1. 特徵地圖之準備 12
3-2-2. 廣義Voronoi結構劃分(GVD) 13
3-2-3. 路徑搜尋 16
3-2-3-1. A*演算法	 16
3-2-4. 動態路徑搜尋 18
3-2-4-1. LPA*演算法 19
3-2-4-2. D* Lite演算法 21
3-3. 無線輪椅機器人控制 24
3-3-1. 輪椅機器人硬體介紹 26
3-3-2. 轉速控制 29
3-3-3. 轉向控制 31
3-3-4. 無線資料傳遞 33
第四章 研究方法 36
4-1. Wi-Fi定位系統與硬體介紹 36
4-2. 實驗場地建立 40
4-3. 座標系一致 43
4-4. 訊號紋比對 45
4-5. SQL資料庫與Matlab訊息交換 46
4-6. 路徑規劃 47
4-6-1. 初規劃 48
4-6-2. 再規劃 49
4-7. 輪椅控制系統之組成 51
4-8. 無線輪椅機器人導航 54
4-9. UI介面與控制	57
第五章 實驗與討論 59
5-1. Wi-Fi定位精度分析 59
5-2. 動態路徑再規劃於不同場景下之案例與討論 62
5-2-1. 點障礙移動之初規劃與再規劃 63
5-2-2. 區塊障礙移動之初規劃與再規劃 68
5-2-3. 點、區塊障礙移動之初規劃與再規劃 72
5-3. 無線輪椅機器人路徑導航案例 77
第六章 結論 91
6-1. 未來計畫與發展 91
參考資料 92



圖目錄
圖2-1. 系統的領域	5
圖2-2. 系統流程圖	6
圖2-3. 系統整體示意 7
圖3-1. 三角定位 9
圖3-2. 路徑規劃地圖程序 13
圖3-3. Voronoi結構劃分 15
圖3-4. 一般與廣義之Voronoi結構劃分 15
圖3-5. 估算啟發函數一致性h(z)之三角不等關係 17
圖3-6. 路徑拓展rhs計算之從屬關係 20
圖3-7. 動態路徑拓展 23
圖3-8. 輪椅機器人控制器系統之改裝發展	25
圖3-9. 升降式電動輪椅 26
圖3-10. 編碼器 27
圖3-11. 四元件軸心串聯之馬達驅動源 28
圖3-12. 實際四元件軸心串聯之馬達驅動源 28
圖3-13. Arduino MEGA 2560 29
圖3-14. RN-XV無線擴充板 29
圖3-15. PWM 30
圖3-16. PWM脈波寬度 31
圖3-17. H-bridge 32
圖3-18. 馬達轉向	32
圖4-1. AeroScout定位引擎	37
圖4-2. MobileView 38
圖4-3. SQL資料庫	38
圖4-4. 定位系統配備 39
圖4-5. Wi-fi定位系統硬體架構示意 40
圖4-6. 矩形實驗場域平面圖 41
圖4-7. 正方形實驗場域平面圖	 41
圖4-8. 基地台立竿	 42
圖4-9. 實驗場域與基地台面向示意 43
圖4-10. 實驗空間 43
圖4-11. 座標轉換 44
圖4-12. 參考點佈建 46
圖4-13. 邊界點加入前後差異比較圖 48
圖4-14. 路徑初規劃 49
圖4-15. 路徑再規劃 50
圖4-16. LM2596 DC-DC可調式電源降壓模組 51
圖4-17. 無線輪椅機器人電路示意 53
圖4-18. 輪椅改裝完成 53
圖4-19. 反正切函數分析角度差 54
圖4-20. 移動距離 55
圖4-21. 輪椅轉向估算 57
圖4-22. Matlab GUI使用者圖形介面 58
圖5-1. 精度分析實驗之場域設置 59
圖5-2. RSSI定位精度分析 60
圖5-3. RSSI訊號紋比對定位精度分析 61
圖5-4. 移動狀態之誤差放大 62
圖5-5. 點障礙移動之動態路徑再規劃分解圖 64
圖5-6. 區塊障礙移動之動態路徑再規劃分解圖 69
圖5-7. 點、區塊障礙移動之動態路徑再規劃分解圖 73
圖5-8. 自行加工之輪椅舵輪機構 77
圖5-9. 直線行走ㄧ公尺 78
圖5-10. 連續左轉90度 79
圖5-11. 連續右轉90度 80
圖5-12. 案例ㄧ之靜態規劃路徑 81
圖5-13. 輪椅導航案例ㄧ之動態影像分解 82
圖5-14. 案例二之靜態規劃路徑 83
圖5-15. 輪椅導航案例二之動態影像分解 84
圖5-16. 案例三之靜態規劃路徑 85
圖5-17. 輪椅導航案例三之動態影像分解 86
圖5-18. 案例四之靜態規劃路徑 87
圖5-19. 輪椅導航案例四之動態影像分解 88
圖5-20. 案例五之靜態規劃路徑 89
圖5-21. 輪椅導航案例五之動態影像分解 90



表目錄
表3-1. 輪椅規格 25
表3-2. 直流無刷馬達規格 26
表3-3. TCP與UDP協定之優缺比較 35
表4-1. 筆記型電腦規格 36
表4-2. Voronoi節點資料型態 48
表5-1. 點障礙移動案例之程序時間 64
表5-2. 區塊障礙移動案例之程序時間 69
表5-3. 點、區塊障礙移動案例之程序時間 74

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