碩士 / 國立臺北科技大學 / 電機工程系所 / 100 / This paper develops an intelligent navigation system for wheeled mobile robot. The robot has two fuzzy controllers which respectively utilize the Kinect sensor and infrared distance sensors to detect the obstacles in the navigation environment. In the navigation strategy, RFID sensing is used to provide the robot with localization data, and motion guidance such as moving forward or turning. The obstacles are mainly detected by the Kinect sensor, which intercepts the depth information of fetching the image in order to differentiate the relative distance between the obstacles and the robot. Besides, the horizontal location of obstacles can be obtained such that the fuzzy controller can drive the robot to dodge the obstacles while considering the current robot moving speed. The infrared distance sensors are responsible to detect the downside obstacles that cannot be sensed by the Kinect sensor, so that the corresponding fuzzy controller can avoid the downside collision. With the capability of obstacle-avoidance and wall-following, the RFID-based localization strategy is carried out by using B-Spline curve theory to generate a motion trajectory for robot navigation. A fuzzy supervisor is designed to compromise the motion control from the obstacle-avoidance and the navigation capability. The experimental results show that the multiple obstacles can be avoided even under conditions of unknown environments, and the robot system can achieve the required destination.
| Identifer | oai:union.ndltd.org:TW/100TIT05442034 |
| Date | January 2012 |
| Creators | Hung-Chi Wu, 吳泓錡 |
| Contributors | Tsu-Tian Lee, Kuang-Yow Lian, 李祖添, 練光祐 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 111 |
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