應用模糊控制理論於輪椅沿牆走之研究

Applying fuzzy control theory on the wall following of a wheelchair

郭一統(I-Tung Kuo)

指導教授 ： 邱謙松

中原大學/電機資訊學院/電機工程研究所/碩士(2016年)

https://doi.org/10.6840/cycu201600754

摘要

本論文主要目的為發展一模糊控制系統來提升電動輪椅的智慧多功能服務。此處以市售電動輪椅的自動控制為研究對象，使用超聲波感測器測得周圍環境障礙物距離，透過多顆微處理器控制電動輪椅的運動，而控制器採用模糊控制理論來實現，先將其障礙物距離模糊化，再透過專家規則推論獲得適當之兩輪控制力，實現電動輪椅自主沿牆走及閃避障礙物功能。此處輪椅速度控制亦被考量，使電動輪椅行走時更加穩定。另外，為了避免輪椅在樓梯處無法正確測得環境距離，本論文亦結合Star Gazer室內定位感知器，使電動輪椅可在已知地圖環境，除記錄行走軌跡資訊圖外，於行走過程中透過危險區告警系統，亦通知電動輪椅避開危險位置。最後透過實際模擬與實作結果展現設計成果的可行性。

關鍵字

模糊控制 ； 避障控制 ； 超聲波 ； 室內定位

並列摘要

This thesis proposed a fuzzy logic control system to provide multiple intelligent functions for electric wheelchairs. This study modified and upgraded a commercial electric wheelchair by adding ultrasound sonar sensors to evaluate the distance between obstacles and the electric wheelchair and several micro-processors to control the wheelchair. To achieve the ability of autonomous wall-following control and obstacle avoidance, the fuzzy control theory was applied from an expert fuzzy rule base which was realized by fuzzifying the obstacle distances, performing inference engine, and defuzzifying the control force required for the wheelchair. Moreover, the speed of wheelchair was also calculated by two encoders and controlled by PID controllers, so that the movement of wheelchair was more stable and smooth. In addition, an indoor localization sensor (Star Gazer) was applied to track moving path of the wheelchair. During the movement, a dangerous alarm system will indicate the dangerous zone to the electric wheelchair, then the wheelchair will make safety action to avoid dangerous environment. Finally, the simulation results and experimental results were proved the expected performance of the proposed method.

並列關鍵字

fuzzy logic control ； wall following control ； sonar sensor ； indoor localization

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