By Using a Fuzzy Control Model to Fuse Three Behavioral Patterns of a Mobile Robot

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Title:	By Using a Fuzzy Control Model to Fuse Three Behavioral Patterns of a Mobile Robot
Other Titles:	利用模糊理論融合行動機器人的三種行為模型
Authors:	逄霖生;李家崴;柯智偉;張明朗;翁志祁
Contributors:	工學院
Keywords:	行動機器人模糊控制理論機器人位姿模糊規則庫模糊推論引擎歸屬函數解模糊化 Mobile robot Fuzzy control theorem The pose of robot Fuzzy rule base Fuzzy inference engine Defuzzification
Date:	2009-06-01
Issue Date:	2012-03-21 15:01:34 (UTC+8)
Abstract:	在本論文中，模擬行動機器人行為融合模型設計，使行動機器人能自由的移動並在環境中導覽。利用模糊邏輯控制理論本文設計了3個獨立的行為模式，分別是障礙物閃避、目標物追尋、沿中央道路行走等三種行為模式，此三種模型能解決行動機器人在移動間可能遇到的問題。本文後再依照3種行為模式，分別分配不同的比重，藉以融合三種行為為一個單一的模型，達到控制行動機器人左右輪的速度來達到控制行動機器人的目的。 In this paper, it developed a fusion navigation system for a mobile robot. It used the fuzzy logic control theory to handle three different behaviors of robot, including the obstacle avoidance, goal seeking and central route path. These behaviors are independently studied and solved for each situation. After that, three behaviors are fused by using a weight assignment equation to decide the best speed of two wheels which control the direction of robot navigation.
Relation:	華岡工程學報 24期 p.131 -139
Appears in Collections:	[College of Engineering] Chinese Culture University Hwa Kang Journal of Engineering

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