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題名 | 自動導引車之韌性循跡運動控制器設計與製作=Robust Path Tracking Control and Implementation of an Automatic Guided Vehicle |
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作者 | 蔡清池; 張智富; Tsai, Ching-chih; Chang, Jung-fu; |
期刊 | 技術學刊 |
出版日期 | 19980600 |
卷期 | 13:2 1998.06[民87.06] |
頁次 | 頁335-347 |
分類號 | 448.942 |
語文 | chi |
關鍵詞 | 自動導引車; 方位推算器; 模糊路徑追蹤; 基因法則; Automatic guided vehicle; Dead-reckoning; Fuzzy path tracking; Genetic algorithm; |
中文摘要 | 本文旨在發展計畫導航式自動導引車之韌性循跡控制器設計方法及其實現製作技 術。以卡門濾波器為基礎的多重感測器融合技術被使用來融合里程計、陀羅儀與低成本的自 製數位羅盤與超音波定位系統等資訊,以完成韌性的方位推算器 (Robust Dead-Reckoning) 設計。在導引車經長久的行駛後,方位推算器之導引車姿態估測值仍維持其所需的精確度。 模糊路徑控制法則是依一般人駕駛車輛的主觀與直覺操作經驗而建立的,其目的在控御導引 車精準而流暢地依循設定的導引路徑行駛。模糊路徑控制器輸出入語言變數約三角形歸屬函 數參數設計是運用基因法則以朝往最小平方差和的方式調整之。電腦模擬可有效且迅速地估 算出韌性的方位推算器與模糊路徑控制器參數。實驗被用以檢驗本方法之可行性與有效性。 實驗數據證實模糊控制之控制性能優於 PTD 控制器。 |
英文摘要 | This paper develops methodologies for robust path tracking control and implementation of an automatic guided vehicle with planned navigation. By fusing measurements obtained from two incremental encoders, a rate gyroscope, a digital compass and a laboratory built ultrasonic location device, a robust dead-reckoning is developed based on Kalman filtering. The robustdead-reckoning still outputs acceptable estimates of vehicle postures after along distance of vehicle movement. To track the desired path precisely and smoothly, a fuzzy path tracking control using intutive and subjective human ideas of driving is proposed. Proper triangular membership functions for the fuzzy controller are automatically selected by using a genetic search technique based on a minimization of the sum of the square of the errors. Computer simulation is used to obtain appropriate parameters for the robust,dead reckoning device and the fuzzy controller. Some experiments are described which were performed to demonstrate the feasibty and effectiveness of the proposed method. Experimental results prove that the fuzzy control outperforms the PID control. |
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