應用模糊行為控制於輪型機械人的目標追 蹤及躲避障礙

Target Tracking and Obstacle Avoidance of a Wheeled Robot via Fuzzy Behavior Control

雷明崴(Min-Wei Lei)

指導教授 ： 戴兢志

大同大學/工程學院/機械工程學系所/碩士(2007年)

摘要

目標追蹤，閃避障礙與自我定位一直是智慧型多功能機械人導航裡的重要課題，為了得到更準確的位置及方位，本論文使用擴展型卡爾曼濾波器去做誤差修正，以兩輪差速機械人完成目標點的追蹤並於路徑中使用紅外線感測器閃避障礙，我們使用TI的微處理機(TMS320LF2407)產生PWM訊號驅動伺服馬達，經由編碼器將訊號置入微處理機再由解碼器透過模糊分散式滑動控制(fuzzy decentralized sliding-mode control)完成馬達之回授，提供兩輪差速機械人前進所需的動力。

關鍵字

模糊行為 ； 避障 ； 目標點的追蹤 ； 卡爾曼濾波器

並列摘要

Target tracking, obstacle avoidance and self-location have always been important subjects for navigation of multi-function Intelligent Mobile Robot. In order to acquire the accurate position and orientation, extended Kalman filter has been used to revise the errors in this dissertation. Moreover, the differential drive mobile robot may play an important role to complete target tracking and infrared sensor could be regarded as a practical tool to avoid obstacles through the path. In order to provide the differential drive mobile robot, the PWM signal was produced by microprocessor, which was from Texas Instruments Company, and the signal would be used to drive the servomotor. This signal may be input into microprocessor by encoder and given feedback of completion driving servomotor by decoder through fussy decentralized sliding-mode control.

並列關鍵字

self-location ； obstacle avoidance ； Target tracking ； extended Kalman fikter

參考文獻

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