| Summary: | 碩士 === 國立中央大學 === 電機工程研究所 === 93 === This thesis uses the hierarchical logic fuzzy controller (HFLC) to design controllers for a wheeled mobile robot (WMR). Partial parameters of the proposed controllers are fine-tuned by simulated annealing (SA) for better performance. The proposed controllers are applied to the motion control of the WMR from any arbitrary position and direction to achieve the position control and the trajectory tracking control.
There are also two path-planning methods for obstacle avoidance has been proposed in this thesis. The first one is based on the fuzzy theory to decide an optimal steering angle for collision avoidance of the WMR real-time if the shapes of the obstacles in the environment are all particular. When the shapes of the obstacles in the environment are arbitrary, we combine the subgoal selection method and the spline interpolation method to design a path-planning method to obtain an optimal path for obstacle avoidance and reach the target position.
In the part of the implementation, we use the technology of the image processing to acquire the movements of the WMR. In order to operate the WMR, the control algorithm and the path-planning method are designed with Borland C++ Builder and the motor speed of the two wheels is controlled by microchip PIC16F877. All of the operations of the WMR are established in the circumstance of the windows. Finally, the experimental results are given to demonstrate the effectiveness of the proposed methods in this thesis.
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