粒子最佳化與模糊控制於輪型機器人之自動導航應用

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姓名

劉詩群(Shih-Chun Liu) 查詢紙本館藏

畢業系所

電機工程學系

論文名稱

粒子最佳化與模糊控制於輪型機器人之自動導航應用
(Automatic Navigation of a Wheeled Mobile Robot Using Particle Swarm Optimization and Fuzzy Control)

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摘要(中)

本文旨在為提供輪型機器人一個適合的自動導航方法，並配合感測器偵測周遭環境建構平面地圖，以使用者決定目標點並經由輪型機器人完成，自動導航的方法根據感測器的不同也會有所差異，如何研究出兼具避障與最短路徑也是目前非常重要的議題
粒子最佳化常用於搜尋最佳解的問題，與基因演算法有許多相似之處，但在參數設定與收斂速度上更優異，不需要複雜的數學式也使得此演算法很容易實現在硬體上，本研究以輪型機器人行走所需要的角度與距離長度當作問題的維度，經由不斷的疊代後找出最佳路線；另外針對此導航方法所會遇到的盲點提出利用模糊控制的解決方法，改進輪型機器人在遇到某些特殊狀況時會來回移動的問題。
在模擬與實驗中，以軟體模擬所提出的導航方法，設計出許多不同的障礙物場景並且觀察結果，最後再以電腦與輪型機器人完成一個跨平台的架構，驗證此方法的可行性。

摘要(英)

This paper develops a approach of Navigation for a wheeled mobile robot(WMR). Next, the local map is constructed by using a sensor.The WMR will arrive at the destination which is assigned by users. Additionally, it is very important how to find the collision-free and the shortest path for the WMR.
Particle Swarm Optimization(PSO) is usually applied for optimization problems, but the convergence speed and the parameter setting are better than those of the GA. It’s easy for implementation, and the turn angle and the forward distance as main factors of problem. Finally , the best path after many times of iteration can be obtained. In addition, Fuzzy Conrol is used to solve special condition under which, WMR may be stuck in the same road.
In this work, experimental results are given to demonstrate the feasibility of this method

關鍵字(中)

★ 自動導航
★ 輪型機器人
★ 模糊控制
★ 粒子最佳化

關鍵字(英)

★ Automatic Navigation
★ Particle Swarm Optimization
★ Fuzzy Control

論文目次

中文摘要 …………………………………………………….I
英文摘要 ……………………………………………...…….II
致謝 ………………………………………………….. III
目錄 ………………………………………………….. IV
圖目錄 ………………………………………………...…VI
表目錄 ……………………………………………...……IX
一、緒論.……………………………….…….………1
1-1 前言…………………………………………………..…1
1-2 文獻探討……………………………………………..…2
1-3 研究動機與目的…………………………………..……4
1-4 論文架構………………………………………………..6
二、系統介紹….……………………………...………..7
2-1 簡介…………………………………………….….....7
2-2 輪型機器人之運動系統………………………………..7
2-3 馬達與位置控制器…………………………...….…..9
2-3-1 直流馬達...……………………………….……..9
2-3-2 位置控制器......…….………………….……….10
2-4 雷射測距儀……………………………….…………...11
2-5 BASIC Stamp 2px微處理器……..…….……………..14
2-6 藍芽模組………………..…………………….……….15
2-7 電力系統………………………………………………..16
三、粒子最佳化應用於導航控制……………………….17
3-1 粒子群最佳化簡介………………………………………17
3-2 應用PSO於WMR之導航.…………………………………22
3-2-1 單維PSO……………...………………….………22
3-2-2 二維PSO……………………………………………24
3-3 參數調整………………………………………………26
3-3-1 正規化………………………………………………26
3-3-2 基因演算法應用於參數選擇………………………27
四、模糊控制應用於沿牆行走…………………………32
4-1 特殊狀況之避障………………………………………32
4-2 模糊邏輯控制……………………………………………34
五、實驗結果與討論……………………………………43
5-1 自動導航模擬……………………………………………43
5-2 實驗結果…………………………………………………54
六、結論與未來展望……………………………………58
6-1 結論………………………………………………………57
6-2 未來展望…………………………………………………59
參考文獻 ………………………………………………………………61
附錄 ………………………………………………………………67

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指導教授

鍾鴻源(Hung-Yuan Chung)

審核日期

2011-7-18

推文