請用此 Handle URI 來引用此文件: http://hdl.handle.net/11455/89999
標題: A Study on Obstacle-avoidance Guiding for an Autonomous Mobile Robot by Using Fuzzy Theory
模糊理論應用於自主性機器人避障路徑導引之研究
作者: Mao-Rong Luo
羅茂榮
關鍵字: 模糊理論
避障
路徑導引
自主性機器人
Fuzzy theory
Obstacle avoidance
Route guidance
Autonomous mobile robot
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摘要: 行走機器人系統,在未知的環境下,往往無法預知周圍障礙物的存在,以致行動困頓難以為繼。因此機器人所搭載的感測器成為自主行動時不可或缺的基本配備。以往研究中,都是在定型的環境下運用WebCam 等影像設備擷取地形圖像,經由影像處理辨識出障礙物後,再透過路徑規劃系統的計算決定機器人下一步之行動。本研究則是利用紅外線距離感測器做為環境即時偵測的資訊蒐集,應用模糊理論建置自主性機器人避障路徑之導引系統,協助機器人躲避障礙物。應用LabVIEW 人機介面監控與 XBee 無線通訊模組進行資料傳輸與命令傳遞,並配置於自行設計打造,由 2 組步進馬達驅動並搭載 7 個紅外線距離感測器以及一組六軸電子羅盤之三輪式自主性機器人(命名為R7-M2 I 型)。本研究並搭配模糊控制器,組合紅外線距離感測器之啟用顆數與兩種型式之模糊歸屬函數,建置控制策略以做為系統之評估與驗證。最後透過四種障礙地形進行實地驗證,結果顯示所研製之自主性機器人系統在不同的隨機障礙物環境下,皆能夠自主進行避障並抵達終點區域完成巡航任務。
In unknown environments, mobile robots are always interfered with surrounding obstacles, therefore employing sensors is necessary for a mobile robot to exhibit the autonomous ability on trajectory planning. In the previous researches, image sensors such as WebCam were used to catch maps that the obstacles will be identified by image processing, the robot wouldn't move until next step was confirmed. In this research, a novel obstacle avoidance guiding system developed with fuzzy theory is equipped on the self-designed autonomous robots as the control core. 7 infrared distance sensors sense the environment obstacles and collect parameters with which the fuzzy control core can execute the cruise to prevent from crush in real time. The LabVIEW control panel and XBee wireless communication modules are also employed by this self-designed autonomous robot to transmit data and commands. The main structure of this self-designed autonomous robot (named R7-M2 type I) is a unit of 2 stepper motors, 7 infrared distance sensors, a 6-axis E-Compass and 3 wheels. This robot is controlled by the Fuzzy controller with the options of numbers of infrared distance sensors in duty and the numbers of membership functions in execution. 4 different environments with obstacles were conducted to verify and identify the performance of this developed robot system. The experiment results validate that this autonomous robot system is capable of avoiding obstacles as well as accomplishes the navigation mission in random environments.
URI: http://hdl.handle.net/11455/89999
其他識別: U0005-1104201510225500
文章公開時間: 2018-05-11
顯示於類別:生物產業機電工程學系

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