Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/6910
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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摘要: 
本論文的首要目的是對於兩輪自平衡自動服務機器人提出智慧型運動控制與路徑規劃法。首先,以未知參數之動態數學模型為基礎的前提之下,將該平台的未知函數分成已知與未知項,並提出模糊基底函數的智慧型運動控制策略來學習未知項的變動,進而改善其軌跡追蹤控制之性能。在規劃最佳路徑與防碰撞方面,本論文提出以修正型粒子群尋優演算法來進行規畫全域路徑規劃,並以彈性帶技術來規劃區域路徑。兩路徑規劃法可結合上述的運動控制法則,在機台運用上實際運行。最後本文利用電腦模擬與進行實際機台實驗,用以檢驗所提的運動控制法則及路徑規劃的可行性與效用性。實驗的循跡結果說明所提出的智慧型運動控制在軌跡追蹤控制上具有滿意的控制功能。

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.
URI: http://hdl.handle.net/11455/6910
其他識別: U0005-2107201116120800
Appears in Collections:電機工程學系所

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