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題 名 | GPS/INS Fuzzy Fusion Aided Parallel Parking of a Car-like Mobile Robot=GPS/INS訊息模糊融合輔助自走車之平行停車 |
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作 者 | 練光祐; 劉寅春; 廖翊汶; 邱謙松; | 書刊名 | 中原學報 |
卷 期 | 29:3 2001.09[民90.09] |
頁 次 | 頁303-311 |
分類號 | 440.98 |
關鍵詞 | 訊息融合; 全球衛星定位系統; 慣性導航系統; 自走車; Information fusion; GPS; INS; Mobile robot; |
語 文 | 英文(English) |
中文摘要 | 根據量測雜訊及衛星分佈情形,本論文提出GPS/ INS (全球衛星定位系統/慣性導航系統)資料模糊融 合系統,以決定GPS與INS測量值權重大小,並由此 估測自走車之狀態。對於平行停車之整個控制系統包 含:自走車之動態模式;以Kalman濾波器為主之狀態 估測器;資料取樣器;模糊決策機制以判定所屬區 開;增益排程器以協調停車之程多;以及採用滑模控 制之路徑追蹤控制器。 |
英文摘要 | A GPS and INS data fusion system using fuzzy rules is proposed based on the geometry of satellite distributions and measurement noise. Then the outputs of the fuzzy fusion system are used as weights of the GPS and INS signals which in tum is used as a state estimator for para11el parking a car-like mobile robot. The overall control architecture consists of the car-like mobile robot model; a state estimator which is a Kalman filter driven by the fuzzy fusion system; a data sampler; a fuzzy decision maker to c1assifythe parking workspace; a gain scheduler which coordinates the whole parking process; and a path tracking controller which uses fuzzy sliding mode control. |
本系統中英文摘要資訊取自各篇刊載內容。