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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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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.
其他識別: U0005-2707200916462300
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