- 期刊
Fuzzy Logic Path Planner and Motion Controller by Evolutionary Programming for Mobile Robots
並列摘要
A fuzzy logic controller (FLC) for mobile robots is designed in hierarchical structure. The designed FLC consists of two levels: the planner level and the motion control level. The planner level generates a path to the destination by avoiding obstacles. The singleton outputs of the planner are obtained by using lines and arc methods. The lower motion control level calculates the robot's wheel velocity so as to follow the path generated by the planner as to the current robot posture. The fuzzy singleton outputs are obtained by heuristics and tuned by evolutionary programming. The applicability of the controller is demonstrated by using robot soccer system.
被引用紀錄
黃楷翔（2011）。模糊行為決策於視覺自主人形機器人之設計〔博士論文，淡江大學〕。華藝線上圖書館。https://doi.org/10.6846/TKU.2011.00242
李政霖（2011）。移動機器人之二級式區間第二類模糊控制〔碩士論文，國立臺灣師範大學〕。華藝線上圖書館。https://www.airitilibrary.com/Article/Detail?DocID=U0021-1610201315241093
林育正（2012）。適應性區間第二類模糊滑動控制器應用於自走車路徑追蹤〔碩士論文，國立臺灣師範大學〕。華藝線上圖書館。https://www.airitilibrary.com/Article/Detail?DocID=U0021-1610201315281048
延伸閱讀
- Han, C. J. (2011). Singularity Robustness and Obstacle Avoidance for a Redundant Robot Using Fuzzy Motion Planning [master's thesis, National Taipei University of Technology]. Airiti Library. https://doi.org/10.6841/NTUT.2011.00596
- Do, C. H., Lin, H. Y., & Chang, C. C. (2021). IMPROVED MOBILE ROBOT MOTION PLANNING ALGORITHM BASED ON DIFFERENTIAL EVOLUTION. 技術學刊, 36(3), 169-175. https://www.airitilibrary.com/Article/Detail?DocID=10123407-202109-202109220004-202109220004-169-175
- Yeh, H. H. (2009). Path Planning and Control for a Mobile Robot using Visual Recognition [master's thesis, Tatung University]. Airiti Library. https://www.airitilibrary.com/Article/Detail?DocID=U0081-3001201315104790
- Chen, Y. H., & Li, T. H. S. (2013). PD Type Fuzzy Trajectory Tracking Control Design for Mobile Robots. Journal of Science and Innovation, 3(2), 45-51. https://doi.org/10.6654/JSI.201304_3(2).0002
- Yang, W. C. (2016). Mobile Robot Navigation Using Fuzzy Controller with Reinforcement Evolutionary Learning [master's thesis, National Formosa University]. Airiti Library. https://www.airitilibrary.com/Article/Detail?DocID=U0028-0108201617104700