| Summary: | 碩士 === 中原大學 === 機械工程研究所 === 99 === The subject of this dissertation is to design and develop a service mobile robot with remote control in indoor environments. The major capabilities of the robot include remote monitoring and control, obstacle avoidance, and visual servoing. It can move accurately in the condition itself by Pioneer 3-DX moving platform and the information of the map. It can avoid obstacle for protecting people and itself by sonar sensors. It can fix the position itself by CCD cameras and using stereo vision to calculate the distance between it and the target. User can send command to the mobile robot and get the real-time images from mobile robot by remote desktop protocol and WiFi. There are four experiments in this dissertation: positioning by machine vision, environment map building, obstacle avoidance, and integration of all functions. Tests each system’s functions one by one, and then carries the systems. In the experiment of positioning by machine vision, show that the error produced by Pioneer 3-DX in the moving process, and the contrast between the error and stereo vision error. In the experiment of map building, builds the map automatically by the mobile robot to redeem the fault that it can only work in the place with map information. In the experiment of obstacle avoidance, mobile robot can estimate the width of obstacle, and then avoid the obstacle by sonar sensors. Finally, the last experiment integrates all functions to test the mobile robot can complete the mission or not. The experiment results show that the mobile robot can be controlled by remote, and then complete the mission user sends.
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