Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/72253
標題: 自動導引車之模糊循跡控制系統設計與製作
作者: 蔡清池
張智富
關鍵字: 自動導引車;位置推算器;模糊路徑追蹤;基因法則
出版社: 國立中興大學工學院;Airiti Press Inc.
Project: 興大工程學報, Volume 8, Issue 2, Page(s) 43-58.
摘要: 
本文旨在發展無路徑導引自動搬運車的模糊循跡控制系統設計方法及其實現製作
技術。 以卡門濾波器為基礎的多重感測器融合技術被使用來融合編碼器( Encoder )、轉
速陀羅儀( Rate-Gyroscope )與電子數位羅盤( Compass )等資訊而完成的位置推算器
( Dead-Reckoning )的設計,使車體的位置與方向在一定的行駛距離內,維持其所需的精
確度。模糊路徑控制法則是依一般人駕駛車輛的操作經驗而建立的,其目的在控御車體精準
而流暢地依循設定的導引路徑行駛。模糊路徑控制器的輸入語言變數的三角形歸屬函數設計
是運用基因法則以朝往最小姿態平方差和的方式自動搜尋得之。最後先藉由電腦模擬,可迅
速而有效地估算出位置推算器與模糊路徑控制器參數,再進行實驗以檢證其有效性與可行性
,與比較模糊與 PID 路徑控制器之性能差異。

This paper develops methodologies for fuzzy path tracking control
design and implementation of an automatic guided vehicle. A dead-reckoning,
consisting of two incremental encoders, a rate gyro and a digital compass, is
designed based on the Kalman filtering. A fuzzy traking control based on
intutive and subjective human ideas of driving is proposed. A genetic search
technique based on a minimization of sum of error squares is employed to
automatically select proper triangular membership functions for the fuzzy
tracking controller. Computer simulations and experiments are performed to
demonstrate the feasibility and effectiveness of the proposed method.
URI: http://hdl.handle.net/11455/72253
ISSN: 1017-4397
Appears in Collections:第08卷 第2期
工學院

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