Design and Implementation of an Autonomous Service Robot based on Cyber Physical Modeling Systems
學年 110
學期 2
出版(發表)日期 2022-03-01
作品名稱 Design and Implementation of an Autonomous Service Robot based on Cyber Physical Modeling Systems
著者 Shih-An Li; Li-Hsiang Chou; Tsung-Han Chang; Ching-Chang Wong; Hsuan-Ming Feng
著錄名稱、卷期、頁數 Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture, pp.1-15
摘要 An autonomous robot is designed and implemented to support the service works. Many technologies were adapted, namely human-robot interaction order system, path planning and mapping in indoor, Robot Operating System (ROS), and Cyber Physical System (CPS). Many subsystems are developed and constructed based on ROS to implement a human-interaction action in completing service robot tasks. A human-robot interaction order system is designed for the convenient human servicing purpose. Therefore, the customer quickly finds the commodity information through the internet. This system recommends the commodity according to the content of the database. In addition, the customer makes an order by touch screen interface, and then it sends a command to control the robot to deliver the commodity. In the second subsystem, it includes path planning and mapping generation. The well-known simultaneous localization and mapping (SLAM) concept with a Rao-Blackwellized particle filter (RBPF) addresses the appropriated maps after completing the exploration of the indoor environment. In order to reach better robustness and agility, the hybrid path planning algorithm includes a global A* algorithm and local dynamic window approach (DWA) to navigation. In the third subsystem, the Gazebo makes the perfect construction of CPS design. Finally, the simulation and implementation of dual-arm robot navigation with the interactive order situation to efficiently support servicing actions of the robot and finish the required tasks.
關鍵字 Human-robot interaction (HRI);simultaneous localization and mapping (SLAM);cyber physical system;services robot;gazebo simulator
語言 en_US
ISSN 0954-4054
期刊性質 國外
收錄於 SCI
國別 USA
出版型式 ,電子版

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