| Summary: | 碩士 === 國立臺灣海洋大學 === 通訊與導航工程系 === 96 === Abstract
The purpose of this thesis is to design control strategy for wheeled mobile robot (WMR) to avoid obstacle and move to target location. The obstacle detection for wheeled mobile robot is carried out by ultrasonic sensors. There are two main parts of this study. They are obstacle avoidance model and target location model. In obstacle avoidance model, the wheeled mobile robot utilizes signals of the sensors to avoid obstacle accurately. In target location model, we utilizes the concept of the fuzzy theory, based on sensor signals, to design the fuzzy controller to control the speed of the wheeled mobile robot and make it move to target location.
In this study, software simulations are made in the Matlab platform. In hardware tests, we use Visual Basic 2005 to encode the interface between human and machine and utilize a personal computer to
compute expected trajectory. Command signals are transferred through
WiFi (802.11b) wireless to communicate data between the WMR and computer. The wheeled mobile robot is put in single obstacle or multiple obstacles environment, which the space is 10 m long by 2 m wide, and entity tests are done by using the X-80 robot. Obstacle avoidance model
and target location model are performed successfully.
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