碩士 / 國立虎尾科技大學 / 電機工程系碩士班 / 104 / This study is divided into two parts. First, we designs two fuzzy logic controllers including an expert-knowledge-based fuzzy logic controller (EKFLC) and an obstacle-configuration-based fuzzy logic controller (OCFLC). The EKFLC uses expert knowledge and experience to design fuzzy rule base for a fuzzy logic controller. The OCFLC uses “obstacle configuration” to design fuzzy rule base for pattern-mapping between quantized ultrasonic sensory data and velocity commands. The two fuzzy logic controllers are applied in mobile robots (i.e., PIONEER 3-DX) to achieve automatic navigation and obstacle avoidance capabilities. A novel escape special environment approach is proposed to let the robot can autonomously avoid some special landmarks in this project. It uses an angle between obstacle and robot, and two thresholds to determine whether that the robot enters into the special landmarks, to switch behavior-mode for solving dead-end problems. A compensatory neuro-fuzzy controller (CNFC) with a knowledge-based cultural multi-strategy differential evolution (KCMDE) is proposed to adjust system parameters. Furthermore, the two kinds of training data are produced by two fuzzy logic controllers to design the CNFC with the proposed KCMDE. Finally, the two training data are evaluated to the automatic navigation and obstacle avoidance capabilities of robots in unknown environments to achieve the objective of control of the mobile robots.
| Identifer | oai:union.ndltd.org:TW/104NYPI5441002 |
| Date | January 2015 |
| Creators | Wen-You Ho, 何文佑 |
| Contributors | Cheng-Hung Chen, 陳政宏 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | en_US |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 77 |
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