頁籤選單縮合
題 名 | Path Planning for Car-Like Mobile Robot Based on Fuzzy Theory |
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作 者 | Lu, Hung-ching; Chuang, Chih-ying; | 書刊名 | International Journal of Electrical Engineering |
卷 期 | 12:2 民94.05 |
頁 次 | 頁143-150 |
分類號 | 448.94 |
關鍵詞 | Path planning; Car-like mobile robot; Fuzzy theory; |
語 文 | 英文(English) |
英文摘要 | The problem of path planning is investigated in various fields. It is important that the robot can determine its own direction in the shortest time to reach the goal without colliding with any obstacle. Based on the viewpoint, we present a novel path planning algorithm of avoiding the single moving obstacle in this paper. First, the motion model of the car-like mobile robot is introduced in the investigation. Next, the algorithm of avoiding the moving obstacle is discussed. Besides, fuzzy theory is employed in the system so that the robot can reach the goal much faster. Finally, the simulation results using different sizes of robots and obstacles verify that the proposed path planning algorithm is feasible and reasonable in dodging the moving obstacle. |
本系統中英文摘要資訊取自各篇刊載內容。