碩士 / 國立中興大學 / 電機工程學系所 / 101 / This thesis develops techniques and methodologies for navigation system design and SoPC implementation of a Mecanum wheeled omnidirectional mobile robot (MWOR). The navigation system is composed of four new modules: odometry, kinematic motion controller, nonsingular terminal sliding-mode dynamic motion controller, and global path planner, which have been implemented using the SoPC technology. The odometry is constructed by using a numerical method and a kinematic model of the robot, in order to keep track of the current position and orientation of the robot over short distances. Both kinematic motion control and nonsingular terminal sliding-mode dynamic control are well derived to achieve simultaneous point stabilization and trajectory tracking. A hybrid PSO (particle swarm optimization)-RGA (real-coded genetic algorithm) algorithm is proposed to find an optimal path between a starting and ending point in a given grid environment. Simulations and experimental results are conducted which have shown the feasibility and effectiveness of the proposed control methods.
| Identifer | oai:union.ndltd.org:TW/101NCHU5441047 |
| Date | January 2013 |
| Creators | Jing-Ru Kuo, 郭璟儒 |
| 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 | 71 |
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