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dc.contributor.authorWang, Tzu-Chuen_US
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dc.description.abstractThis 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.en_US
dc.description.tableofcontents誌 謝 辭 i 中文摘要 ii Abstract iii Contents iv List of Figures viii List of Tables xiii Nomenclature xiv List of Acronyms xv Chapter 1 Introduction 1 1.1 Introduction 1 1.2 Literature Review 5 1.2.1. Related Work for Control of the SBTWMRs 5 1.2.2. Related Work for Global Path Planning 6 1.2.3. Related Work for Local Path Planning. 7 1.3 Motivation and Objectives 8 1.4 Main Contributions 8 1.5 Thesis Organization 9 Chapter 2 System Structure and Control Architecture 10 2.1 Introduction 10 2.2 Overall System Structure and Key Components 10 2.2.1. Motor Drive 14 2.2.2. Motor 15 2.2.3. Right angle Gearboxes 16 2.2.4. Power Supply Module 17 2.2.5. DC-AC Module 17 2.2.6. Wheels 18 2.2.7. Tilt Sensor 18 2.2.8. Gyro Sensor 20 2.2.9. Rotary Encoder 22 2.2.10. Battery Energy Monitor 24 2.2.11. Digital Signal Controller (DSC) 25 2.2.12. Signal Flow of the Overall Control System 30 2.2.13. Laser Sensor 30 2.3 Motion Control System 32 2.3.1. Digitization of the Torque-to-Speed Conversion 33 2.3.2. Dead-Reckoning 34 2.3.3. Sensing and Signal Processing 35 2.4 Concluding Remarks 36 Chapter 3 Intelligent Motion Control Using Fuzzy Basis Function Networks for Uncertain Self-Balancing Two-Wheeled Robots 37 3.1 Introduction 37 3.2 Uncertain Mathematical Model 37 3.3 Brief Review of FBFN 41 3.4 Problem Statement and Kinematics Controller Design 44 3.4.1. Problem Statement 44 3.4.2. Design of Trajectory Tracking Controller 44 3.5 Intelligent Adaptive Sliding-Mode Posture and Speed Control Controllers Design Using FBFN 45 3.6 Intelligent Adaptive Sliding-Mode Yaw Rate Control Controllers Design Using FBFN 50 3.7 Simulations and Discussion 53 3.8 Experimental Results and Discussion 65 3.9 Concluding Remarks 68 Chapter 4 Modified Particle Swarm Optimization Algorithm for Global Path Planning 69 4.1 Introduction 69 4.2 Grid-based Modified Particle Swarm Optimization (MPSO) Algorithm 70 4.2.1. Searching Block Construction 73 4.2.2. Particle Swarm Optimization (PSO) Blocked Area Search 82 4.2.3. Quadratic B-Spline 85 4.3 Simulation Result and Discussion 86 4.4 Experiment Result and Discussion 90 4.5 Concluding Remarks 92 Chapter 5 2D Collision-free Trajectory Generation by Elastic Band Technique for Local Path Planning 93 5.1 Introduction 93 5.2 Local Path Planning Using Elastic Band Technique 93 5.3 Real-time Trajectory Generation Using Elastic Band Technique 94 5.3.1. Initial Path Build-up 95 5.3.2. Elastic Band Deformation 96 5.3.3. Bubble Reorganization 97 5.3.4. Trajectory Transformation 98 5.3.5. Real-time Algorithm for an Elastic Band Trajectory Generation 99 5.4 Simulations and Discussion 100 5.4.1. Static Obstacle Avoidance 100 5.4.2. Dynamic Obstacle Avoidance 101 5.5 Concluding Remarks 103 Chapter 6 Conclusions and Future Work 104 6.1 Conclusions 104 6.2 Future Work 105 References 107zh_TW
dc.subjectSelf-Balancing Two-Wheeled Mobile Roboten_US
dc.subjectwheeled inverted pendulumsen_US
dc.titleIntelligent Adaptive Motion Control and Path Planning for a Self-Balancing Two-Wheeled Mobile Roboten_US
dc.typeThesis and Dissertationzh_TW
item.openairetypeThesis and Dissertation-
item.fulltextno fulltext-
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