Path Planning and Control of a Guidance Robot for Blind Pedestrian

• Main Authors: Tsau-Hong Shea, 徐肇鴻
• Other Authors: Kai-Tai Song
• Format: Others
• Language: zh-TW
• Published: 1999
• Online Access: http://ndltd.ncl.edu.tw/handle/72149384514418578436

碩士 === 國立交通大學 === 電機與控制工程系 === 87 === In this thesis a guidance robot is designed to help blind or visually impaired pedestrians to navigation safely among obstacles and other hazards faced by blind pedestrians. We develop a path planning method to find a shortest path. An optimal controller has been design to perform the path tracking task in order to make the guidance robot to follow the predefined path. In order to obtain absolute orientation and position using computer vision system, each individual camera needs accurate calibration to acquire internal and external parameters. The calibration results are used in the clustering, stereo matching and 3D position calculation to find obstacle''s position and width. The mobile robot will make fast local path planning using a hueristic clustering network to prevent from collision with unexpected obstacles on its pre-defined path. The user can feels the steering command as a very noticeable physical force through the handle and be able to follow the guidance robot''s path easily without any conscious effort。