移動式機器人之沿邊模糊控制

Wall-Following Fuzzy Control for Mobile Robot

江岱樺(Dai-Hua Jiang)

指導教授 ： 吳俊德

國立暨南國際大學/科技學院/電機工程學系/碩士(2015年)

摘要

本論文使用模糊邏輯控制完成移動式機器人的沿牆控制，此移動式機器人必須在不同的環境也可以運作良好，為此使用五個紅外線感測器來感測環境資訊，經由實驗室自製的W5 處理器進行運算，將收集到的資訊進行模糊化計算出歸屬函數，透過簡單的模糊規則進行動作控制，而然僅僅只有模糊規則是不夠的，還必須有狀態暫存器的輔助，紀錄移動式機器人的行為狀態才能完整完成沿牆控制。最後我們實現了此系統並在實際的環境中測試，如：簡單的沿牆直行、沿牆左右轉及複雜牆面沿牆，結果顯示此移動式機器人可以在不同的牆面狀態皆可以運作良好。

關鍵字

模糊邏輯控制 ； 現場可編輯邏輯陣列移動式機器人 ； 紅外線感測器 ； 沿牆控制

並列摘要

This thesis proposes wall-following fuzzy control for mobile robots. The goal is to design a mobile robot that can follow the wall in various environments so that the mobile robot has to equip five infrared sensors to collect data. The W5 processor processes the obtained information from sensors into fuzzy states. Each fuzzy state is related to some specific behaviors. Fuzzy states are correlated to their matching behaviors via if-then rules which are designed by human reasoning. In order to achieve our goal, state registers are needed to record behavior state. It was proved that, using the fuzzy control, the mobile robot is able to deal with different wall conditions includes straight, concave and convex shapes. The result shows that the wall-following fuzzy control is successful for the mobile robot.

並列關鍵字

Fuzzy logic control (FLC) ； Field-programmable gate array (FPGA) ； Mobile robot ； infrared sensors ； wall-following

參考文獻

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