碩士 / 國立中興大學 / 電機工程學系所 / 96 / This paper presents techniques for motion control and planned navigation of a self-balancing two-wheeled platform for autonomous service robots. Based on the linearized mathematical modeling, a kinematical trajectory tracker and two adaptive controllers are designed to achieve speed tracking and yaw rate control. Planned navigation architecture, combining a human-aware trajectory generator and an obstacle-avoidance method, is used to provide desired safe trajectories between humans and the robot. Simulations and experimental results indicate that the proposed motion controller and planned navigation control architecture are capable of providing appropriate control actions to satisfactorily achieve trajectory tracking, obstacle-avoidance and task execution.
| Identifer | oai:union.ndltd.org:TW/096NCHU5441034 |
| Date | January 2008 |
| Creators | Huan-Hau Fan, 范元豪 |
| Contributors | 蔡清池 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | en_US |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 88 |
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