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題 名 | 未知環境中自動導航車之模糊路徑規劃=A Fuzzy Algorithm for Path Planning of Autonomous Guided Vehicles in Unknown Environments |
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作 者 | 吳佳儒; 楊森偉; | 書刊名 | 科技學刊 |
卷 期 | 8:2 1999.04[民88.04] |
頁 次 | 頁97-104 |
分類號 | 557.3 |
關鍵詞 | 自動導航車; 路徑規劃; 模糊集理論; 超音波距離感測器; AGV; Path planning; Fuzzy set theory; Ultrasonic range finders; |
語 文 | 中文(Chinese) |
中文摘要 | 本論文之主要目的是在一充滿靜止障礙物之未知環境中,利用一模糊法則來對自 動導航車進行路徑規劃的工作。其中之自動導航車配備有電子羅盤及光編碼器以做為內部之 位置推算器,同時利用超音波距離感測器做為環境感測之用。經由這些感測器在每個抽樣時 間的讀值,自動導航車之前進角度及速度即能由所提之模糊法則加以決定,進而在初始之位 置與所欲之最後位置間產生一條沒有碰撞的路徑。而為驗證所提方法之正確性,除電腦模擬 外,亦將進行實際之實驗。 |
英文摘要 | A fuzzy algorithm is proposed to navigate an autonomous guided vehicle (AGV) from a given initial location to a desired final location in an unknown environment filled with stationary obstacles. The AGV is equipped with electronic compasses and photo encoders for dead reckoning, and ultrasonic range finders for environment recognition. From the readings of the sensors at every sampling instant, the heading angle and the speed of the AGV will be determined by the proposed fuzzy algorithm. In this manner, a collision-free path between the initial and the final locations will be found. To show the validity of the proposed method, in addition to the compurter simulation, an experimental example will also be given. |
本系統中英文摘要資訊取自各篇刊載內容。