整合仿生智慧行為控制的機器人系統晶片設計

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顏宏晉(Hung-chin Yen) 查詢紙本館藏

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資訊工程學系

論文名稱

整合仿生智慧行為控制的機器人系統晶片設計
(Design of Robotic System-On-A-Chip with Bio-inspired Intelligent Behavior Control)

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摘要(中)

面對現今機器人的用途和功能愈來愈多元且複雜，機器人控制系統的開發也越趨困
難，加上機器人工作環境也從實驗室走向家庭和公共空間，在多變的環境中，機器人要
擁有自主性移動的能力變得極其重要。本研究基於MIAT 實驗室的機器人嵌入式計算平
台，致力於設計一個得以讓機器人具有自動導航與仿生行為的智慧型行為控制器，並將
其整合在原有的機器人系統晶片平台。
我們首先使用模糊控制器來實現機器人閃避障礙物和沿牆行走行為。我們所規畫的
機器人仿生行為係採用包容性系統架構，並藉由超音波感測器收集周圍的環境資訊，在
模糊、變動的環境資訊下，可決定各行為模組的模糊控制器輸出。接著我們藉由高階合
成方法論的開發流程，來進行機器人仿生行為控制器的硬體電路，並將其整合至機器人
計算平台，實現一個整合仿生智慧型行為控制的機器人系統晶片。
最後，我們在具有18 個自由度的六腳機器人進行此一機器人系統晶片的驗證，我
們規畫不同的環境和情境(senario)來實驗機器人自動導航和仿生行為的功能，實驗結果
展示我們所開發的機器人系統晶片除了具備預期的導航功能，也擁有傑出的環境適應性
和控制效能。

摘要(英)

As robotic application is getting complicated, the development of robotic system
becomes more and more difficult. In addition, robots begin to be used in the household or
public place, the navigation function of robots seems more important. In order to solve the
problem described above, we design an intelligent navigation and bio-inspired behavior
controller on MIAT embedded computing platform and try to develop the Robotic
System-On-a-Chip (SoC) with bio-inspired intelligent behavior control.
We design some behaviors for robot navigation , including obstacle avoidance and wall
following using fuzzy logic control approach . We construct a subsumption system
architecture for our behaviors with a methodology for design and high-level synthesis, then
integrate the behavior controller and the platform into a SoC chip.
Finally, we implement the robotic SoC with intelligent behavior control on a hexapod
robot which has 18 degrees of freedom to verify the SoC. We design different experiments
and senario to prove the efficiency and effectiveness which the design of behavior controller
the Robotic SoC with bio-inspired intelligent behavior control shows.

關鍵字(中)

★ 智慧型機器人
★ 包容性系統
★ 模糊理論
★ 機器人導航

關鍵字(英)

★ fuzzy
★ Intelligent robot
★ robot navigation
★ subsumption

論文目次

摘要 ........................................................................................................................................ iv
Abstract ...................................................................................................................................... v
誌謝 ........................................................................................................................................ vi
圖目錄 ................................................................................................................................ viii
表目錄 ................................................................................................................................... x
第一章緒論 ............................................................................................................................ 1
1-1 研究背景與動機 .......................................................................................................... 1
1-2 相關研究發展與回顧 .................................................................................................. 2
1-3 研究目的 ...................................................................................................................... 5
1-4 論文架構 ...................................................................................................................... 5
第二章智慧型機器人行為 .................................................................................................... 6
2-1 仿生機器人行為 .......................................................................................................... 6
2-2 模糊系統理論 .............................................................................................................. 6
2-3 應用模糊控制在機器人避障 ...................................................................................... 9
2-3-1 閃避障礙物行為(obstacle avoidance)設計...................................................... 9
2-3-2 沿牆走行為(wall following)設計 .................................................................. 15
2-3-3 攻擊行為(attacking)設計 ............................................................................... 19
2-4 行為判斷 .................................................................................................................... 19
2-5 討論 ............................................................................................................................ 22
第三章智慧型機器人系統晶片平台 .................................................................................. 23
3-1 機器人系統晶片平台架構 ........................................................................................ 23
3-2 機器人系統晶片設計方法論 .................................................................................... 29
3-2-1 系統設計流程 ................................................................................................ 29
3-2-2 週邊硬體控制器設計與高階合成 ................................................................ 34
3-3 模糊控制器設計與硬體合成 .................................................................................... 42
第四章實驗與成果展示 ...................................................................................................... 50
4-1 實驗平台 .................................................................................................................... 50
4-2 控制器電路的硬體合成實驗 .................................................................................... 52
4-3 機器人仿生行為控制實驗 ........................................................................................ 57
第五章結論與未來展望 ...................................................................................................... 64
5-1 結論 ............................................................................................................................ 64
5-2 未來展望 .................................................................................................................... 64
附錄一參考文獻 .................................................................................................................. 65

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指導教授

陳慶瀚(Ching-han Chen)

審核日期

2009-7-14

推文