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Design of a Fuzzy Controller for the Wall Following Behavior of a Robot
|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:|| 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  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.  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  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  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  S. Fazli and L. 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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.
|Appears in Collections:||電機工程學系所|
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