Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/6170
標題: 雷射測距儀應用於機器人沿牆走行為模式之模糊控制器設計
Design of Fuzzy Controllers for the Wall Following Behavior of a Mobile Robot with a Laser Range Finder
作者: 葉政耀
Yao, Yeh-Cheng
關鍵字: Fuzzy Control;模糊控制;Genetic Algorithm;Robot;Wall-Following Behavior;Laser Range Finder;基因演算法;機器人;沿牆行走行為模式;雷射測距儀
出版社: 電機工程學系所
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摘要: 
本篇論文主旨在於設計沿牆行走之行為模式的模糊控制系統。透過模糊控制系統能使機器人能在一個未知的環境中,於在設定的安全距離內,能夠貼合著牆面沿牆行走。透過雷射測距儀與影像處理之形態學結合的方式,即時的規劃出一條機器人行走的參考路徑,並利用模糊控制器來使機器人能夠緊密的貼合我們系統所規劃的參考路徑行走。

透過雷射與影像的結合,系統就能利用低運算量、高效率的方式,規劃出一條較精準、完整且圓滑的參考路徑。除了模糊控制器的設計之外,另外加入了基因演算法來改善模糊控制器的效能。利用基因演算法能夠自我演化的特性,透過不斷的交配與突變可以計算出更加貼近於環境的模糊控制參數,增加機器人行走行為的準確性。

最後,透過電腦的模擬,驗證了本篇論文的設計的方法具有低複雜度及更加穩定的效果。

In this thesis, an effective wall following control system for mobile robot is proposed. In order to use a simple two-dimensional fuzzy controller, we design an suitable and smooth local reference path from the high accurate raw laser range finder readings based on the morphological image processing techniques. By using the genetic algorithm to optimize the fuzzy control system, we can improve the efficiency of the control system. According to the simulation results, the robot can be controlled to approach the desired path and provide satisfactory performance.
URI: http://hdl.handle.net/11455/6170
其他識別: U0005-0408201121252100
Appears in Collections:電機工程學系所

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