碩士 / 國立中興大學 / 電機工程學系所 / 97 / This thesis presents techniques for motion control and human-aware navigation of a two-wheeled self-balancing mobile robot. Based on the nonlinear mathematical modeling, a motion commands generator and two sliding-mode controllers are designed to achieve speed tracking, yaw rate control and desired trajectory tracking. The human-aware navigation combines an obstacle-avoidance method and skin color detection, in order to provide desired socially acceptable path between humans and the robot. Simulations and experimental results indicate that the proposed motion controllers and human-aware navigation approach are capable of providing appropriate control actions to satisfactorily achieve path tracking, obstacle avoidance and mission execution.
| Identifer | oai:union.ndltd.org:TW/097NCHU5441045 |
| Date | January 2009 |
| Creators | Shih-Hung Wang, 王世泓 |
| 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 | 94 |
Page generated in 0.0019 seconds