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標題: 兩輪自平衡行動機器人之智慧適應運動控制及路徑規劃
Intelligent Adaptive Motion Control and Path Planning for a Self-Balancing Two-Wheeled Mobile Robot
作者: 王梓竹
Wang, Tzu-Chu
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
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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.
其他識別: U0005-2107201116120800
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