This thesis describes a research work consisting of the development, the control, and the validation of a robotic guide for blind and partially sighed users. The robot includes an innovative device, i.e. the smart tether system, integrated in the autonomous-guide robot. It guarantees a constant force exerted to the user and allows the robot to maintain a constant distance with respect to the user. The model of the smart tether and its control strategy are derived. To guarantee a constant force exerted to the user, a LQR controller is developed in this work. Moreover, to improve its performance in terms of tracking of the reference and reducing the rise time, an integrator with anti-windup and a Virtual Reference Feedback Tuning based controller are designed. Some experimental campaigns allowed us to characterize the human disturbance acting on the system, to validate the smart tether control system, and prove its performances. The physical integration of the smart tether device and the Yape robot has been also conducted, both regarding the mechanical and the electrical components. Finally, the software integration of the smart tether system and Yape is realized and the high level control system of the robotic guide is studied. Possible use case scenarios are analyzed thanks to some questionnaires and focus groups with blind and visually impaired people. Moreover, the support of the project partners allowed to identify and study two target application scenarios, i.e. Giuriati Sport Center and Niguarda Hospital.
Questo progetto di tesi riguarda lo sviluppo, il controllo e la validazione di un robot guida per persone non vedenti e ipovedenti. L’elemento innovativo sviluppato in questo lavoro è lo smart tether system, un sistema che, integrato con un robot mobile autonomo, permette di mantenere costante la forza esercitata all’utente e permette al robot guida di mantenere costante la sua distanza dall’utente. Nella prima fase, il modello dello smart tether e la strategia di controllo sono stati studiati. Per garantire una forza costante esercitata all’utente è stato sviluppato un controllore di tipo LQ. Inoltre, per migliorare le performance del sistema per quanto riguarda l’inseguimento del riferimento e il tempo di salita, sono stati aggiunti allo schema un’azione integrale con anti-windup e un controllore Virtual Reference Feedback Tuning. Attraverso campagne sperimentali è stato possibile caratterizzare il disturbo, e validare il sistema di controllo dello smart tether e le sue performance. Inoltre, è stata realizzata l’integrazione fisica delle componenti meccaniche ed elettroniche dello smart tether con il robot mobile Yape. Infine, è stata studiata e realizzata l’integrazione dei software dello smart tether e di Yape per porre le basi per un controllo di alto livello. Sono stati analizzati i possibili scenari applicativi grazie a questionari e focus groups con persone non vedenti e ipovedenti. Inoltre, il supporto di alcuni partner quali il Centro Sportivo Giuriati e l’Ospedale Niguarda ha permesso di studiare e identificare due specifici scenari applicativi.
Development, control and validation of a guide robot for blind and partially sighted users
MARSON, PAOLO
2021/2022
Abstract
This thesis describes a research work consisting of the development, the control, and the validation of a robotic guide for blind and partially sighed users. The robot includes an innovative device, i.e. the smart tether system, integrated in the autonomous-guide robot. It guarantees a constant force exerted to the user and allows the robot to maintain a constant distance with respect to the user. The model of the smart tether and its control strategy are derived. To guarantee a constant force exerted to the user, a LQR controller is developed in this work. Moreover, to improve its performance in terms of tracking of the reference and reducing the rise time, an integrator with anti-windup and a Virtual Reference Feedback Tuning based controller are designed. Some experimental campaigns allowed us to characterize the human disturbance acting on the system, to validate the smart tether control system, and prove its performances. The physical integration of the smart tether device and the Yape robot has been also conducted, both regarding the mechanical and the electrical components. Finally, the software integration of the smart tether system and Yape is realized and the high level control system of the robotic guide is studied. Possible use case scenarios are analyzed thanks to some questionnaires and focus groups with blind and visually impaired people. Moreover, the support of the project partners allowed to identify and study two target application scenarios, i.e. Giuriati Sport Center and Niguarda Hospital.File | Dimensione | Formato | |
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TESI.pdf
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Executive summary.pdf
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Descrizione: Executive summary
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https://hdl.handle.net/10589/197376