Omni-Directional Trajectory Control for Surveillance and Security Robot Team
| Autor: | Hui-Ling Hung, 洪慧齡 |
|---|---|
| Rok vydání: | 2007 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 95 This thesis mainly confers the study of omni-directional trajectory motion control implemented by the SOPC system. In the hardware architecture, four mutual orthogonal omni-directional wheels are horizontally established on the plane of the chassis and four optical encoders are equipped with DC motors to read the data of angular velocity and compute the posture of the surveillance and security robot (SSR). By using inverse kinematics relationship, we can transform the angular velocity and the angle in the robot coordinate frame into the linear velocity and the absolute position in the world coordinate frame. Moreover, the complete equations of the motion of the SSR are also derived. The robot will track the desired trajectory which has been generated by the trajectory generation system. We present a fully-fuzzy trajectory tracking system which consists of a trajectory control algorithm (TCA) and a fuzzy logic controller (FLC). They can compensate for the errors of the velocity and regulate the errors of the position based on the dynamic model. After dealing with the information, the correct trajectory motion can be determined. Finally, the experimental results indicate that the proposed omni-directional trajectory control scheme can be successfully applied to the SSR. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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