| Summary: | 碩士 === 大同大學 === 機械工程學系(所) === 93 === In this thesis, the trajectory tracking and (dynamic) obstacle avoidance of a mobile robot within distributed sensor-network space via fuzzy decentralized sliding-mode control (FDSMC) was developed. To implement trajectory tracking and (dynamic) obstacle avoidance, two distributed CCD (charge-coupled device) cameras were set up to realize the dynamic position of the mobile robot and the obstacle. Based on the control authority of these two CCD cameras, a suitable reference trajectory including desired steering angle and linear velocity for the proposed controller of the mobile robot was planned. It was also transmitted to the mobile robot by a wireless module. The proposed fuzzy decentralized sliding-mode control could track a reference trajectory without the requirement of a mathematical model. Only the information of the upper bound of system knowledge was required to select the suitable scaling factors and coefficients of sliding surface so that an acceptable performance was achieved. The proposed control system included two processors with multiple sampling rates. One personal computer was employed to capture the image of CLMR and obstacle, to plan a reference trajectory for the CLMR, and then to transmit the reference trajectory to the CLMR. The other was a DSP implementing in the CLMR to control two DC motors. Finally, a sequence of experiments was carried out to confirm the performance of the proposed control system.
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