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標題: 機器人沿牆走行為模式之模糊控制設計器設計
Design of a Fuzzy Controller for the Wall Following Behavior of a Robot
作者: 徐承佑
HSU, Cheng-You
關鍵字: Fuzzy Control;模糊控制;Neuro-Network;Robot Structure;Wall-Following Behavior;類神經網路;機器人架構;沿牆走行為模式
出版社: 電機工程學系所
引用: [1] 蘇木春, 張孝德, “機器學習-類神經網路、模糊系統以及基因演算法則,” 全華科技圖書股份有限公司, Jul. 2001 [2] R. A. Brooks, “A robust layered control system for a mobile robot,” IEEE Journal of Robotics and Automation, vol. 2, no. 7, pp. 14-23, 1986. [3] P. Rusu, E. M. Petriu, T. E. Whalen, A. Cornell, and H. J. W. Spoelder, “Behavior-based neuro-fuzzy controller for mobile Robot Navigation,” IEEE Transactions on Instrumentation and Measurement, vol. 52, no. 4, pp. 1335-1340, Aug. 2003 [4] S. Thongchai, S. Suksakulchai, D. M. Wilkes, and N. Sarkar, “Sonar behavior-based fuzzy control for a mobile robot,” IEEE International Conference on System, Man, and Cybernetics, vol. 5, pp. 3532-3537, Oct. 2000 [5] T. Yata, L. Kleeman, S. Yuta, “Wall following using angle information measured by a single ultrasonic transducer,” IEEE International Conference on Robotics and Automation, vol. 2, pp. 1590-1596, May 1998 [6] S. Fazli and L. Kleeman, “Wall following and Obstacle avoidance results from a multi-DSP sonar ring on mobile robot,” IEEE International Conference on Mechatronics and Automation, vol. 1, pp. 432-437, Jul. 2005 [7] P. Van Turennout, G. Honderd, L. J. Van Schelven, “Wall following control of a mobile robot,” IEEE International Conference on Robotics and Automation, vol. 1, pp. 280-285, May 1992 [8] K. Izumi, K. Watanabe, S.-H. Jin, “Obstacle avoidance of mobile robot using fuzzy behavior-based control with module learning,” IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 1, pp. 454-459, Oct. 1999 [9] J. E. Meng and D. Chang, “Obstacle avoidance of a mobile robot using hybrid learning approach,” IEEE Transaction on Industrial Electronics, vol. 52, no. 3, pp. 898-905, Jun. 2005 [10] T.-H. S. 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Wang, “A fuzzy Controller with supervised learning assisted reinforcement learning algorithm for obstacle avoidance,” IEEE Transactions on Systems, Man ,and Cyberetics-PART B:Cybernetics, vol. 33, no. 1, pp. 17-27, Feb. 2003 [16] H. R. Beom and H. S. Cho, “A sensor-based navigation for a mobile robot using fuzzy logic and reinforcement learning,” IEEE Transactions on Systems ,Man ,and Cybernetics, vol. 25, no. 3, pp. 464-477, March 1995 [17] N. Rahman, A. R. Jafri, “Two layered behaviour based navigation of mobile robot in an unstructured environment using fuzzy logic,” IEEE International Conference on Emerging Technologies , pp. 230-235, Sep. 2005 [18] Y. Fu, H. Xu, S. Wang, J. Liu, H. Xu, and H. Li, “Mobile robot control based on fuzzy behavior and robot safety body in unknown environment,” IEEE International Symposium on Conputaional Intelligence in Robotics and Automation , pp. 547-552, Jun. 2005 [19] X. Xue, S. X. Yang, and M. Q.-H. 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The aim of this thesis is to design a fuzzy controller for a robot system, which is capable of executing the wall-following behavior and the adaptation under varying conditions, such as obstacle avoidance, making turns, and wall-searching. With these capabilities, the proposed robot is competent to walk along the walls in any environment. Furthermore, with the concept of neural network, an adaptive fuzzy controller is designed based on the back-propagation algorithm. Using the information obtained from the infrared sensor, the control output is computed. To improve the performance of the system, the error of the system is utilized to modify the parameters of the adaptive fuzzy controller according to the gradient descent updating rule. Through the simulation and experiments, the proposed robot system has been proved to be reliable and effective.

Through the simulation and experiments, the robot system proposed has been proved to be reliable and effective.
其他識別: U0005-1707200716041900
Appears in Collections:電機工程學系所

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