碩士 / 國立勤益科技大學 / 資訊工程系 / 105 / This paper proposed an effective approach of mobile robot navigation control in unknown environment. The Mode Manager will switch Wall-Following and Towards Goal according to the environment. It implements the mobile robot cooperative carrying navigation control in unknown environment. And this study proposed Interval Type-2 Neural Fuzzy Controller based on Dynamic Group Differential Evolution for mobile robot Wall-Following controller, the proposed controller let mobile robot to develop controller adaptively by using reinforcement learning method. We used the controller to implement robot Wall-Following control of cooperative carrying. In this study, the experimental results show that the proposed DGDE is better than others algorithm and the original DE. The experimental results of cooperative carrying navigation control show that the proposed cooperative carrying and navigation method can be effectively hold the object to the target.
| Identifer | oai:union.ndltd.org:TW/105NCIT5392017 |
| Date | January 2017 |
| Creators | Yung-Ming Tien, 田永名 |
| Contributors | Cheng-Jian Lin, 林正堅 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 67 |
Page generated in 0.0079 seconds