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題 名 | 自動導航車之智慧型行為控制設計與製作=Intelligent Behavior Control Design and Implementation of an Autonomous Mobile Robot |
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作 者 | 蔡清池; 賴志章; 林建臺; | 書刊名 | 技術學刊 |
卷 期 | 15:4 2000.12[民89.12] |
頁 次 | 頁577-588 |
分類號 | 447.11 |
關鍵詞 | 自動導航車; 行為融合; 模糊控制; 尋標; 防碰撞; 沿牆走; Autonomous mobile robot; Behavior fusion; Fuzzy control; Goal seeking; Obstacle avoidance; Wall following; |
語 文 | 中文(Chinese) |
中文摘要 | 本文旨在探討自動導航車之智慧型行為控制設計與其軟體硬體實現技術。智慧型行為控制系統設計一含差速轉動機構的自動導航車、方位推算器、超音波測距系統以及智慧行為控制與行為融合運算單元等主要軟硬體元件。模糊控制技術被用以設計尋標、防碰撞與沿牆走等三種基本行為之行為控制器。根據目前導航車的方位與周遭障礙物資料,一可行的模糊行為融合策略被提出,可將三種基本行為融合而產生合成應急行為,以控制導航車的運動軌跡,使其能流暢地行走於室內未知的動態空間中。所有行為導航控制與融合法則均以C++程式技巧撰寫,並運用586筆記型電腦執行計算。實驗數據證實本文所提方法之可行性與實用性。 |
英文摘要 | The paper presents methodologies for behavior control design and hardware implementation for an autonomous mobile robot. Three primitive behaviors, goal seeking, obstacle avoidance and wall following, are developed for the vehicle utilizing the fuzzy control method. Based on the ranging information between the vehicle and its surroundings, a fuzzy behavior fusion strategy is proposed to generate an emergent behavior by combining the three primitive behaviors. The emergent behavior outputs appropriate control commands to smoothly drive the vehicle in an unknown and dynamic, ally structured environment. The experimental setup is composed of a mobile robot with two independent PID-based driving wheels, a dead-reckoning system, an ultrasonic ranging system and a behavior control and fusion computational unit. All the developed navigation and control algorithms are implemented using a PC 586 notebook compute and standard C++ programming techniques. Through experimental results, the proposed method is shown to be powerful in giving a feasible and effective control on the vehicle. |
本系統中英文摘要資訊取自各篇刊載內容。