Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/8675
標題: 四輪全方位導覽機器人之適應性動態移動控制與SoPC實現
Adaptive Dynamic Motion Control and SoPC Implementation of a Four-Wheeled Omnidirectional Tour-Guide Robot
作者: 吳政叡
Wu, Zeng-Ruei
關鍵字: Four-Wheeled;四輪;Omnidirectional;Tour-Guide;Robot;全方位;導覽;機器人;動態移動控制
出版社: 電機工程學系所
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摘要: 
本論文之研究目的在於發展四輪全方位移動導覽機器人平台控制、ZigBee定位與系統晶片化的方法與技術。ZigBee模組用於完成初始全域定位,混合從ZigBee和航向估測元件所得到的訊號,可以得到機器人在任何時間任何地點的全域位置。在四個全方位輪呈現九十度的排列方式下,利用非線性適應動態學控制方法實踐全方位移動機器人點穩定度分析、軌跡追蹤實驗。四輪全方位移動導覽機器人的適應動態移動控制器以系統晶片的技術將其實現。文中也提出許多的實驗結果將此機器人的優點加以分析討論,確保以及驗證所提出方法的有效性與優點。

This thesis develops methodologies and techniques for ZigBee localization, motion control and SoPC-Based Implementation of a tour-guide robot with a four-wheeled omnidirectional mobile platform. The ZigBee module has been adopted for accomplishing initial global localization. The information obtained from the dead-reckoning unit and ZigBee module is fused together to find the global localization of the robot at any place at any time. A nonlinear adaptive dynamic control method is presented for point stabilization and trajectory tracking of an omnidirectional wheeled mobile robot with four independent driving omnidirectional wheels equally spaced at 90 degrees from one to another. The proposed adaption dynamic motion controller has been implemented into an SoPC chip. The effectiveness and merit of the proposed techniques are well exemplified by conducting several simulations and experiments on an experimental four-wheeled omnidirectional tour-guide robot.
URI: http://hdl.handle.net/11455/8675
其他識別: U0005-2707200916462300
Appears in Collections:電機工程學系所

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