輪型機器人主從式陣型模糊控制

Formation Control of Mobile Robots with Leader-Follower Approach using Fuzzy Logic Controller

維非克(Vivek Kumar)

指導教授 ： 劉寅春

淡江大學/工學院/電機工程學系碩士班/碩士(2019年)

https://doi.org/10.6846/TKU.2019.00795

摘要

本文介紹了基於模糊邏輯控制器設計通過實施領導者和跟隨者的方法，該方法允許建立和維護沿著給定軌跡移動之輪式移動機器人（WMR）的構造。 作為一組研究，控制器基於模糊邏輯控制器（FLC）設計，用於將移動機器人保持在所需的形式中。本論文考慮了領導者和跟隨者形成方法，模糊邏輯控制器將通過計算用於將移動機器人保持在列隊中的期望距離和期望角度來幫助維持移動機器人的構造。

關鍵字

非完整行動機器人 ； 模糊控制器 ； 方向誤差 ； 距離誤差 ； 模糊邏輯工具 ； 編隊控制

並列摘要

This thesis presents the design of a fuzzy logic-based control by implementing the leader-follower approach that allows in establishing and maintaining the formations for the wheeled mobile robots (WMR) which moves along a predefined trajectory. As a set of research, th controller is designed based on the fuzzy logic controller (FLC) for keeping the mobile robots in the required formation. Leader-follower formation approach is considered for this thesis. Fuzzy logic controller will help in maintaining the formations of the mobile robots by calculating the desired distance and the desired angle for keeping the mobile robots in the formation.

並列關鍵字

Nonholonomic mobile robots ； fuzzy logic controller ； orientation error ； distance error ； fuzzy logic toolbox ； formation control

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