多自主行動機器人無線感測網路室內定位系統之研究

A Study on an Indoor Positioning System Based on Wireless Sensor Networks for Multiple Autonomous Mobile Robots

10.6840/cycu201400839

鍾宏英

自主行動機器人 ； 服務型機器人 ； 無線感測網路 ； 室內定位技術 ； wireless sensor networks ； indoor positioning technique ； service robot ； autonomous mobile robot

中原大學機械工程學系學位論文

2014年

碩士

陳冠宇

繁體中文

一般而言，大多數服務型機器人以室內為其主要的工作環境，因此若沒有精確的室內定位技術，服務型機器人很難確實的執行工作及完成任務，亦即精確的室內定位技術對服務型機器人而言是不可或缺的關鍵技術之一。近年來，許多研究投入在發展利用無線感測網路架構的室內定位系統，此乃因為無線感測網路具有架構簡單、體積小、低成本、低消耗功率及易於安裝與修復等特點。本文旨在發展一項無線感測網路的室內定位技術可供多部自主行動機器人使用，此定位技術可應用於由多部自主行動機器人服務的智慧辦公環境中進行文件包裹遞送的物流作業系統。此系統藉由無線感測網路得知所有服務型機器人的位置，再依據任務的需求，透過無線網路派工給機器人，當然也能同時監控所有機器人的即時狀態。本文將先前的研究成果擴展至多部自主行動機器人，首先藉由調整接收訊號角度將無線感測網路的定位誤差由約2 m降低至約0.5 m，大幅提升定位精確度；再將原本只能接收單一機器人定位訊號的無線感測網路，擴展至可同時接收多部機器人的定位訊號，增加室內定位技術的應用範圍；最後發展多部機器人在工作環境中相遇的避障系統，結合超音波感測器及無線感測網路的定位訊號，針對不同的相遇情況使其能各自閃避。

In general, most of service robots work in indoor environments. Thus if there is no precise indoor positioning technique, service robots are indeed difficult to perform jobs and accomplish tasks. That is, the precise indoor positioning technique for service robots is one of the important techniques. In recent years, many studies have been focused on the development of indoor positioning systems using wireless sensor network (WSN) architecture. The reason is that the WSNs offer numerous advantages, such as simple structure, small-sized, low in cost, low power consumption and easy to install and repair. This thesis aims to develop an indoor positioning technique based on WSNs for the use of multiple autonomous mobile robots. This positioning technique can be applied to a logistics operating system for controlling multiple autonomous mobile robots working in an intelligent office environment for the delivery of documents and packages. Moreover, this logistics operating system not only can get the position information but also monitor and control the real-time status of all service robots by WSNs, and then assign tasks to robots according to the mission’s requirements. This thesis extends the result of the previous work to multiple autonomous mobile robots. Firstly, by adjusting the angle-of-arrival of the receiving signal, the positioning error in WSNs can be reduced from about 2 m to about 0.5 m. It is obvious that the positioning accuracy has been significantly improved. Furthermore, the WSN can only receive one robot’s positioning signal in previous work, but it is now able to extend for receiving positioning signals from multiple robots simultaneously. This increases the application range of indoor positioning technique. Finally, by integration of ultrasonic sensors and WSN’s positioning signals into an obstacle avoidance system for multiple robots, these robots can avoid each other in different situations.

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