| Summary: | 碩士 === 淡江大學 === 電機工程學系 === 92 === In this thesis, a self-positioning algorithm and a fuzzy obstacle avoidance controller are proposed for autonomous mobile robots. They are implemented in a car-like robot with two wheels. The main components in the hardware are: two motors with encoder, an electronic compass, four infrared sensors, and a Nios development board. The electronic compass, encoder of motor, and infrared sensors are respectively used to detect the direction of robot, the moving distance of robot, and the obstacles in the neighborhood of robot. The Nios development board is designed to provide designers a SOPC design environment where the designers can simultaneously use hardware and software methods to design their system on a FPGA chip. So the proposed self-positioning and path planning and moving functions are implemented in the Nios development board. Some IP (Intellectual Property) are designed to control all the sensors and receive all information of the sensors. From the experimental results, we can see that the robot can avoid obstacles and move to any assigned destination.
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