碩士 / 大同工學院 / 電機工程研究所 / 87 / In this thesis, we will integrate the method of the path planning and trajectory tracking control to develop a navigation strategy for the car-like mobile robot among the irregular obstacles in the planar space. The navigation strategy comprises two phases. During the first phase, the local path planning generates an immediate goal position and collision-free reference trajectory. During the second phase, the security strategy of the trajectory tracking method generates a safe goal position and new reference trajectory corresponding to the planned immediate goal position at first. Then, the robot will track this new reference trajectory by a trajectory tracking fuzzy logic controller and arrive at the safe goal position. After the robot arrives at the safe goal position, the safe goal position will be exchanged as the new starting position corresponding to the next path planning. This process will be repeated until the robot arrives at the final goal position. There are some advantages in this navigation strategy:
(i) The local path planning generates the reference trajectories simply and quickly.
(ii) The trajectory tracking fuzzy logic controller provides an efficient trajectory tracking control for the car-like mobile robot.
(iii) The navigation strategy guarantees that it can bring a car-like mobile robot to a desired position without hitting irregular convex or concave polygonal obstacles in the planar space.
| Identifer | oai:union.ndltd.org:TW/087TTIT0442047 |
| Date | January 1999 |
| Creators | Liang-Hsin Wu, 吳良信 |
| Contributors | Prof. Hung-Ching Lu, 呂虹慶 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 0 |
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