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Intelligent Adaptive Motion Control and Path Planning for a Self-Balancing Two-Wheeled Mobile Robot
|關鍵字:||兩輪自平衡;SBTWMR;倒單擺;Self-Balancing Two-Wheeled Mobile Robot;wheeled inverted pendulums||出版社:||電機工程學系所||引用:|| D. Voth, “Segway to the future,” Intelligent Systems, IEEE [see also IEEE Intelligent Systems and Their Applications] vol.20, no.3, pp.5 - 8, May-June 2005.  Y.Hosoda, S. Egawa, J. Tamamoto, K. Yamamoto, R.Nakamura and M.Togami “Basic design of human-symbiotic robot EMIEW,” in Pro. IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, pp.5079-5084, Oct. 9 - 15, 2006.  S.C. Lin, System design, modeling and control of self-balancing human transportation vehicles, Ph.D Dissertation, Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan, July 2008.  M. Sasaki, N. Yanagihara, O. Matsumoto, and K. Komoriya, “Steering control of the personal riding-type wheeled mobile platform (PMP),” in Proc. 2005 IEEE International Conference on Intelligent Robots and Systems, pp.1697-1702, 2005.  F. Grasser, A.D'Arrigo, and S. 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This thesis presents techniques for intelligent adaptive motion control and path planning of a two-wheeled self-balancing mobile robot. First, based on the dynamic mathematical model whose system functions can be decomposed into the nominal and perturbed terms, an intelligent motion controller augmented with fuzzy basis function networks is designed to achieve trajectory tracking control; this controller is composed of two control modules: posture and speed tracking, and yaw rate control. To find optimal and collision-free paths for the robot, this thesis also presents a global path planning method using the modified particle swarm optimization (MPSO) method, and then establishes a local path planning scheme using the elastic band technology. Several simulations are conducted to illustrate the feasibility and effectiveness of the proposed intelligent adaptive trajectory tracking method, PSO-based global path planning method and elastic-band-based local path planning scheme. Furthermore, some experimental results on for trajectory tracking are performed to show that the proposed intelligent motion controller is capable of giving satisfactory trajectory tracking control performance.
|Appears in Collections:||電機工程學系所|
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