Application of Fuzzy Control in Integrated Design of Robot-Car Route Guidance and Obstacle Avoidance

• Main Authors: Tzuo-Chei Jeng, 簡卓建
• Other Authors: Yin-Yun Lin
• Format: Others
• Language: en_US
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/88165094716914490660

碩士 === 國立成功大學 === 航空太空工程學系碩博士班 === 91 === In this thesis, we applied fuzzy logic control to implement a robot-car that can perform the combined function of route guidance and obstacle avoidance. The robot car design is commanded by a computer in real-time. The sensors module on the car contains the infrared and photo sensors and the A/D-D/A converter for obstacle avoidance and signal tracking proposes. To integrate the functions of route guidance and obstacle avoidance, the robot was tested to drive into a garage from certain distance and angle. A simulation program written with Matlab is also presented to model the response of the auto-car. Furthermore, the experiment results were compared with the simulation results. The hardware experiment shows robot car is able to achieve the objective of parking into the garage with designed fuzzy controller and sensors module. And, the results from computer simulation have closely matched to the results from experiment.