Path Planning of Autonomous Mobile Robot Using Simulated Annealing and Fuzzy Logic Control

• Main Authors: Jian-Li Lin, 林建利
• Other Authors: Tzuu-Hseng S. Li
• Format: Others
• Language: zh-TW
• Published: 1999
• Online Access: http://ndltd.ncl.edu.tw/handle/49720018139544689467

碩士 === 國立成功大學 === 電機工程學系 === 87 === Abstract This thesis is mainly to guide the autonomous mobile robot (AMR) which in cluttered environments to find the proper path using fuzzy logic control concepts. The whole system contains two parts. One part is about path planning. The autonomous mobile robot (AMR) is in the environment filled with obstacles. We propose a fuzzy control based method to find a path for AMR as a reference one. We also regulate the parameter in fuzzy control by use of simulated annealing algorithm. The other one is about path following of AMR. We design the controller for the AMR to follow the path. We will introduce the theory we applied and the architecture of path planning step by step in different chapters. Computer simulations demonstrate the process of path following of AMR and feasibility of the proposed control schemes.