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Adaptive Dynamic Motion Control and SoPC Implementation of a Four-Wheeled Omnidirectional Tour-Guide Robot
|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||引用:|| W. Burgard, “The interactive museum tour-guide robot,” Proceedings of the Fifteenth National Conference on Artificial Intelligence (AAAI-98), Madison, Wisconsin, 1998, pp 11-18.  S. Thurn, “MINERVA: A second-generation museum tour-guide robot, ”Proc. of the IEEE International conference on Robotics and Automation, 1999 Volume 3, 10-15 May 1999, pp 1999 - 2005.  M. Y. Wang, Autonomous navigation and interactive operation of a tour guide robot, M.S. Thesis, Department of Electrical Engineering, National Chung-Hsing University, Taichung, Taiwan, July 2007.  Y. J. Feng , Motion Control, navigation and mission execution of a tour-guided robot with four-wheeled omnidirectional platform, M.S. Thesis, Department of Electrical Engineering, National Chung-Hsing University, Taichung, Taiwan, July 2008.  R. Siegwart and I. R. 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Chen, “Implementation of human-like driving skills by autonomous fuzzy behavior control on an FPGA-based car-like mobile robot,” IEEE Transactions on Industrial Electronics, vol.50, no.5, pp.867-880, October 2003.  Y. S. Kung and G.. S. Shu, “Design and implementation of a control IC for vertical articulated robot arm using SOPC technology,” Proceedings of IEEE International Conference on Mechatronics, pp.532-536, 2005.  C. L. Phillips and H. T. Nagle, Digital control system analysis and design, 3rd edition, Prentice-Hall, Englewood Cliffs, N.J., 1995.||摘要:||
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.
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