碩士 / 輔仁大學 / 電子工程學系 / 98 / In this thesis, it developed a behavior model, to avoid the obstacle, of navigation for a mobile robot system. Fuzzy logic control theory is used to handle three different behaviors of a robot, including the obstacle avoidance, goal seeking and central route path. By using ultrasonic sensors and a digital compass to detect the environmental situations surrounding the mobile robot, the gathering information is used as the inputs of the fuzzy logic controller. At the end, the controller will decide the direction and speed of robot's movement. The designed fuzzy logic controller mimics expert's behaviors and translates it into a mathematical fuzzy logic model. The proposed fuzzy model includes input membership functions and output membership functions. The fuzzy logic model analyzed the data from the sensors, which is then transferred into input membership functions. The input membership functions convert ambiguous readings sensors into a maximum criterion. The input data from the sensors of the robot's is often viewed as a matter of degree of incoming situations, which are hardly considered as absolutely definite circumstances. Similarly, the output membership functions of the proposed fuzzy model transform indefinite descriptions into a clear output value to get the best response for robot movement. Three behaviors are fused by using a weighting function, which assigns the weighting factors for each behavior of robot moving. The final value of the weighting function is in charge of the speed of the two wheels of the robot to decide the direction and speed of the navigation robot. This robot system has been tested in practice. The resulting of the navigation robot shows that the proposed fuzzy model can control a robot platform with satisfactory performance.
| Identifer | oai:union.ndltd.org:TW/098FJU00428012 |
| Creators | Chih-wei Ko, 柯智偉 |
| Contributors | Kou-Cheng Hsu, Lin-Sen Pon, 徐國政, 逄霖生 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 97 |
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