Please use this identifier to cite or link to this item:
Design of Fuzzy Controllers for the Wall Following Behavior of a Mobile Robot with a Laser Range Finder
|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||引用:|| A. M. Turing,” On Computable Number, with an Application to the Entscheidungsproblem“, May 193. P. Rusu, E. M. Petriu, T. E. Whalen, A. Cornell, and H. J. W. Spoelder,” Behavior-based neuro-fuzzy controller for mobile Robot Navigation,” IEEE Transactions on Instrumentation and Measurement, vol. 52, no. 4, pp. 1335-1340,Aug.2003.  S. Thongchai, S. Suksakulchai, D. M. Wilkes, and N. Sarkar ,“Sonar Behavior-Based Fuzzy Control for a Mobile Robot,” IEEE International Conference on System,Man, and Cybernetics, vol. 5 pp. 3532-3537, Oct. 2000. T. Yata,L. Kleeman and S. Yuta,” Wall following using angle information measured by a single ultrasonic transducer,” IEEE International Conference on Robotics and Automation,vol2, pp. 1590-1596, May 1998.  S. Fazli, and L. Kleeman, “ Wall following and obstacle avoidance results from a multi-DSP sonar ring on a mobile robot,” IEEE International Conference on Robotics and Automation, vol.1, pp. 432-437, Jul. 2005.  K. Izumi, K. Watanabe, and Sang-Ho Jin,” Obstacle avoidance of mobile robot using fuzzy behaviour-based control with module learning,” IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 1, pp. 454-459, Oct. 1999.  E. M. Joe and C. Deng, "Obstacle avoidance of a mobile robot using hybrid learning approach," IEEE Transactions on Industrial Electronics, Volume 52, pp. 898 - 905, June 2005.  Li, T.-H.S. and Chang, S. J., Tong; W. “Fuzzy Target Tracking Control of Autonomous Mobile Robots by Using Infrared Sensors,” IEEE Trans. On Fuzzy System, Vol.12,No.4,August. 2004.  E. Zalama, J. Gomez, M. Paul, and J. R. Peran,” Adaptive behavior navigation of a mobile robot,” IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans, vol. 32, no. 1, pp. 160-169, Jan.2002. J. Yen and R. Langari, “Fuzzy logic intelligence, control, and informantion,” Prentice Hall, 1999  Kai-Tai Song and Yih-Shiun Lin, “Landmark-Based Guidance of An Autonomous Vehicle Using Fuzzy Logic Velocity Control and Real-Time Computer Vision,” Journal of the Chinese Fuzzy Systems Association, vol. 5, no. 1, pp. 43-51, 1999.  C. C. Wong, H. Y. Wang, S. A. Li, and C. T. Cheng, “Fuzzy controller designed by GA for two-wheeled mobile robots,” International Journal of Fuzzy Systems, vol. 9, no. 1, pp. 22-30, 2007.  Cang Ye, N. H. C. Yung, and Danwei Wang “A Fuzzy Controller with Supervised Learning Assisted Reinforcement Learning Algorithm for Obstacle Avoidance,” IEEE Transactions on Systems, Man and Cybernetics, Part B, vol. 33, no. 1, pp. 17 - 27 ,Feb. 2003.  H. R. Beom and H. S. Cho, “A Sensor-based navigation for a Mobile Robot Using Fuzzy Logic and Reinforcement Learning,” IEEE Transactions on Systems, Man, and Cybernetics, vol. 25, no. 3, March 1995.  N. Rahman and A.R. Jafri,” Two layered behaviour based navigation of a mobile robot in an unstructured environment using fuzzy logic,” IEEE Symposium on Emerging Technologies, pp. 230-235, Sep. 2005.  Y. Fu, H. Xu, S. Wang, J. Liu, H. Xu, and H. Li, “Mobile robot control based on fuzzy behavior and robot safety body in unknown environment,” IEEE International Symposium on Conputaional Intelligence in Robotics and Automation , pp. 547-552, Jun. 2005.  Chih-Chung Chou, Feng-Li Lian, and Chieh-Chih Wang ” Characterizing Indoor Environment for Robot Navigation Using Velocity Space Approach With Region Analysis and Look-Ahead Verification,” IEEE Transactions on Instrumentation and Measurment, vol. 60, no. 2, Feb. 2011.  J. Borenstein and Y. Koren, “The Vector Filed Histogram -Fast Obstacle Avoidance for Mobile Robots,” IEEE Journal of Robotics and Automation” ,Vol 7, No 3, pp. 278-288, June. 1991. J. Borenstein, and Y. Koren, “The vector field histogram-Fast obstacle avoidance for mobile robots,” IEEE Trans. Robot. Autom., vol. 7, no. 3, pp.278-287, June. 1991. J. Borenstein, “Histogrammic in motion mapping for mobile robot obstacle avoidance,” IEEE Trans. Robot. Autom., vol. 7, no. 4, pp.535-539, Aug. 1991. D. Bell, S. Levine, Y. Koren, L. Jaros, and J. Borenstein, “An assistive navigation system for wheelchairs based upon mobile robot obstacle avoidance,” Proc. IEEE Int’l Conference Robot. Autom., New York: IEEE Press, pp.2018-2022, 1994.  S. Dongqing, D. Dunlap, and E.G. Collins, "A Comparison Between a Fuzzy Behavioral Algorithm and a Vector Polar Histogram Algorithm for Mobile Robot Navigation," Computational Intelligence in Robot. Autom., CIRA 2007, pp.260-265, June 2007.  D. An, and H. Wang, “VPH: A New Laser Radar Based Obstacle Avoidance Method for Intelligent Mobile Robots,” in 5th World Congress on Intelligent Control and Autom., Hangzhou, China, pp. 4681-4685, June 2004.  J. Minguez, and L. Montano, “Nearness diagram navigation(ND): A new real time collision avoidance approach,” in Proc. IEEE/IROS2000 Takamatsu, Japan, pp.2094-2100, 2000.  K. C. Ng and M. M. Trivedi, “A neuron-fuzzy controller for mobile robot navigation and multirobot convoying”, IEEE Transactions on Systems, Man, and Cybernetics, vol. 28, no 6, pp. 829-840 , Dec. 1998.  C. Barret, M. Benreguieg, and H. Maaref, “Fuzzy agents for reactive navigation of a mobile robot,” IEEE First International Conference on Knowledge-Based Intelligents Electronic Systems, vol 2, pp. 546-548, May. 1997.  K.-T. Song and J. Y. Lin, “Behavior fusion of robot navigation using a fuzzy neural network,” IEEE Intermational Cnference on System, Man, and Cybernetics, Oct. 8-11, 2006.  S. X. Yang, Hao Li and M. Meng. “Fuzzy control of a behavior-based mobile robot,” The 12th IEEE International Conference on Fuzzy Systems, vol. 1, pp. 319-324 , May 2003. ”Pioneer 3 Operations Manual,” ActivMedia Robotics. Rafael C. Gonzalez, Richard E. Woods, and Steven L. Eddins, “Digital Image Processing”, Prentice Hall,Sep,2003.  L.A. Zadeh," Fuzzy sets, Information and Control," Information and Control, vol. 8, no. 3, pp. 338-353,June. 1965. J. H. Holland, “ Adaptation in Natural and Artifical Systems,” University of Michigan Press,1975 王進德,“類神經網路與模糊控制理論 入門與應用“,全華科技圖書股份有限公司,Jan,2007.||摘要:||
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.
|Appears in Collections:||電機工程學系所|
Show full item record
TAIR Related Article
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.