全方位模糊運動控制器之設計與實現

Design and Implementation of Omnidirectional Fuzzy Motion Controller

劉智誠(Chih-Cheng Liu)

指導教授 ： 翁慶昌

淡江大學/工學院/電機工程學系碩士班/碩士(2007年)

https://doi.org/10.6846/TKU.2007.00800

摘要

本論文應用模糊系統概念提出一個全方位移動控制器，其可以控制一個具有n個全方位輪(omnidirectional wheel)之全方位移動機器人(omnidirectional mobile robot)朝任意方向做快速有效的移動。首先，本論文推導具有n個全方位輪之全方位移動機器人的運動模型，然後依據機器人目前所在的位置與車頭方向以及期望到達的目標位置與車頭方向所得到三個訊息來作為全方位移動控制器的輸入，此控制器具有四個模組：(a)平移模糊系統、(b)旋轉模糊系統、(c)二維速度對應與(d)全方位運動模型。而控制器的輸出為各個全方位輪之直流馬達的轉速控制訊號以及轉向控制訊號。在模擬與硬體實現上，本論文將所提之方法實現在四輪全方位移動機器人的控制上。從模擬與硬體實現結果可知，所提全方位移動控制器確實可以有效的控制四輪全方位移動機器人之移動速度與旋轉速度，讓機器人快速移動至所期望的位置及方向。

關鍵字

模糊系統 ； 運動控制 ； 全方位移動機器人

並列摘要

In this thesis, an omnidirectional motion controller is proposed so that an omnidirectional mobile robot with n omnidirectional wheel can effectively move toward any direction. First, an n-wheeled omnidirectional mobile chassis is described and its kinematic model is derived. Then, a control structure is proposed to control this omnidirectional mobile robot. There are four main modules: (a) Mobile fuzzy system, (b) Rotational fuzzy system, (c) Velocity decomposition, and (d) Omnidirectional kinematic model. Based on the distance between the desired position and the current position of the robot and the desired rotational angle, two two-input-and-one-output fuzzy systems in this control structure are proposed to determine a mobile velocity and an angular velocity of the robot, respectively. Then, the velocities of n wheels are generated to control this n-wheeled omnidirectional mobile robot so that it can move to the desired position and orientation efficiently. A four-wheeled mobile robot is considered in the simulation and implementation. Some simulation and comparison results are presented to illustrate that the control performance of the four-wheeled omnidirectional mobile robot is better than that of the two-wheeled mobile robot. In the practical application, we can also find that this method can efficiently control this four-wheeled mobile robot to any desired position and orientation.

並列關鍵字

Fuzzy System ； Motion Control ； Omnidirectional Mobil Robot

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