Hierarchical Fuzzy Logic Control of Mobile Robots
| Autor: | Chia-Liang Kao, 高嘉良 |
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| Rok vydání: | 2011 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 100 For automatically navigating in an uncertain environment, a mobile robot generally requires the huge number of sensors. When the fuzzy logic system is used to design the control of the mobile robot system, the design of the fuzzy rules becomes very complicated because of the large number of sensors. Therefore, this thesis uses a method of Hierarchical Fuzzy Logic Controllers (HFLC) for the mobile robot so that the design of the fuzzy rules becomes simple. To achieve auto navigation and mission, the method divides the behavior of the mobile robot into six mode of the behavior. To verify the effectiveness and applicability of the proposed method, we design and implement a mobile robot, and the main structure of the mobile robot includes the DC motor control of three omni-directional wheels, laser sensor, radio transceiver module, distance measuring sensor, a vision system and the control of two five-axis robotic arms. Also, we perform some experiments, including auto navigation, target object searching, static obstacle avoidance, dynamic obstacle avoidance and so forth. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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