輪型行動機器人之運動控制與避障路徑規劃; Motion Control and Obstacle Avoidance Path Planning of a Wheeled Mobile Robot

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Title:	輪型行動機器人之運動控制與避障路徑規劃;Motion Control and Obstacle Avoidance Path Planning of a Wheeled Mobile Robot
Authors:	李欽舜;Chin-Shuen Li
Contributors:	電機工程研究所
Keywords:	模糊滑動控制器;避障;輪型行動機器人;obstacle avoidance;wheeled mobile robot;fuzzy sliding mode controller
Date:	2004-06-30
Issue Date:	2009-09-22 11:55:50 (UTC+8)
Publisher:	國立中央大學圖書館
Abstract:	本論文結合模糊控制（Fuzzy Control）與滑動模態控制（Sliding Mode Control），設計一模糊滑動模態控制器（Fuzzy Sliding Mode Control），並配合基因演算法與模糊理論將此控制器之相關參數調整到一個較佳的狀態，來對輪型行動機器人（WMR）作運動控制，使WMR能從任意初始位置完成定位控制與軌道追蹤。另外本論文也提出兩種不同狀況之避障路徑規劃法，第一種為當WMR在一狀況不明的環境中航行時，利用模糊理論來即時決定一個能閃避障礙物的最佳轉向角度，並針對兩個特殊的障礙物狀況，提出解決之方法。第二種為當WMR航行的環境狀況已知時，利用基因演算法求得一個能避免與障礙物碰撞之最佳路徑，使WMR不但可以順利的避過障礙物，且能以最短路徑到達最終目標位置。在實作驗證部分，本論文利用影像處理技術擷取輪型行動機器人與障礙物之狀態，並在C++ Builder撰寫控制器及避障路徑規劃等程式，也利用單晶片PIC16F877進行馬達轉速控制，而整個輪型機器人之操控及狀況判斷與處理均建構在視窗環境下。最後透過定位控制、軌道追蹤和閃避障礙物等實驗來驗證本論文中各種方法之有效性。 This thesis combines the fuzzy control with sliding mode control to design a fuzzy sliding mode controller. Partial parameters of two kinds of proposed controllers are fine-tuned based on genetic algorithm and fuzzy theory for a better performance. The proposed controller is applied to the motion control of the wheeled mobile robot（WMR） to achieve the position control and the tracking control. There are two path planning methods for obstacle avoidance also proposed in this thesis. The first one method based on fuzzy theory decides a real-time optimal turn angle for collision avoidance of WMR in an unknown environment. When the information of the environment is known, another method based on genetic algorithm can obtain an optimal path for obstacle avoidance and can reach the target position. In the part of implementation, we use the technology of image process to acquire movements of WMR. In order to operate WMR, the fuzzy control program was designed by C++ Builder, and motor speed is controlled by microchip PIC16F877. All of the operations of WMR and signal processes are designed under the circumstances of windows. Finally, the experimental results are given to demonstrate the effectiveness of proposed methods in this work.
Appears in Collections:	[Graduate Institute of Electrical Engineering] Electronic Thesis & Dissertation

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