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題 名 | The Fuzzy Control Applied to the Predefined Path Based on Lego-NXT System=模糊控制應用於樂高機器人既定路徑之研究 |
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作 者 | 陳鴻進; | 書刊名 | 德霖學報 |
卷 期 | 26 2013.04[民102.04] |
頁 次 | 頁27-31 |
分類號 | 448.942 |
關鍵詞 | 既定路徑; 樂高機器人; 模糊控制; Fuzzy control; Robotics; Path following; Lego-NXT; |
語 文 | 英文(English) |
英文摘要 | With a auxiliary wheel, the Lego-NXT mobile robot, is a small two-wheeled and a mobile platform, which is controlled by a ARM7 microcomputer. The robot could sense its surroundings with the ultrasonic sensor, distinguish the reflected light intensity with the light sensor and move it forward by two DC motors. Robot behaviour was determined by the program which was made by fuzzy control theory and loaded to the ARM7 microcomputer. In that way, it could be used as a general robotics fuzzy control theory experimental perform. In this paper, it’s shown that the path following robot with light sensor is used under the robot to sense a black line drawn on a white surface and a fuzzy logic algorithm is used to move the robot to follow the line. The predefined path is having varied turns, the fuzzy reasoning monitor power between two DC motor to keep Lego-NXT mobile robot in the pre-defined path. The results are proved experimentally and fuzzy control theory for stability is verified by Matlab utility. Hardware details of the robot and the software implement of the fuzzy control algorithm are also given in the paper. |
本系統中英文摘要資訊取自各篇刊載內容。