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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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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.
其他識別: U0005-0408201121252100
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