Abstract
The use of indoor robots for medical care and mobility assistance is increasing. The performance of such robots is reliant on efficient localization and autonomous path planning schemes. Therefore, this thesis mainly concerns on developing a norel Wiimote localization scheme and on proposing a potential field-base narigation scheme. For the first part, in our previous study the present group proposed a Wiimote 2D localization scheme in which a commercial Wiimote device was used to detect an IR LED array installed in the ceiling. However, the localization process failed when a clear line-of-sight (LOS) between the Wiimote and the LED array was lost. Accordingly, the present study proposes an improved Wiimote 2D localization scheme and autonomous path planning method based on a controllable IR array and simple path discovery algorithm, respectively. The experimental results show that the proposed localization system overcomes the LOS limitation of the original method and achieves a positioning accuracy of 1 ~ 2 cm. For second part, the path planning problem is to find a sequence of configurations that moves a robot from an initial configuration to a goal configuration without colliding with obstacles in the environment, we succful apply for potential function to develop the path planning scheme to find the path of the robot autonomy. Moreover, the simulation results confirm the ability of the robot to navigate autonomously to a pre-designated target destination and then to return to the starting point. Finially, integrate the localization scheme path discovery algorithm with Omni- wheel robot to reveal feasibility of indoor robot systems. Overall, the results presented in this study suggest that the proposed system has significant potential for the further development more apply of indoor robot systems.
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