A call-to-service design for mobile robots using Zigbee sensor networks

Sin Yi Jiang*, Shang Chun Hung, Kai-Tai Song

*此作品的通信作者

研究成果: Conference contribution同行評審

3 引文 斯高帕斯(Scopus)

摘要

This paper presents a call-to-service design for a walking assistive robot such that it can come and provide assistance to an elderly or handicapped people in an indoor environment. The proposed design integrates a location-aware system and an autonomous navigation system of the mobile robot. A Zigbee-based location-aware system is responsible for estimating the position of user, who calls the robot for service. The autonomous navigation system takes the location information as input and moves towards the user upon calling. Three navigation behaviors are designed by using fuzzy logic approach. The outputs of these behaviors are fused to determine the motion of the robot using a neural network. The call-to-service system has been implemented on a walking helper robot (Walbot) to enhance its capability of human-robot interaction. Experimental results show that, with a location estimation error of 0.41m, the developed system demonstrates satisfactory call-to-service performance.

原文English
主出版物標題ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings
頁面317-322
頁數6
出版狀態Published - 29 八月 2011
事件8th Asian Control Conference, ASCC 2011 - Kaohsiung, Taiwan
持續時間: 15 五月 201118 五月 2011

出版系列

名字ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings

Conference

Conference8th Asian Control Conference, ASCC 2011
國家/地區Taiwan
城市Kaohsiung
期間15/05/1118/05/11

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