| Summary: | 碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 97 === Based on the dynamic model of differential-drive mobile robot, the motion controller and behavior-based controller are designed and implemented in this research, and further provided for the robot self-localization and mapping in a known environment. The research includes four parts, namely, the dynamic motion control of differential-drive mobile robot, the behavior-based control for the robot, the motion model of the mobile robot, system integration and experiments. The developed behavior-based motion controller will be applied to the differential-drive mobile robot with omnidirectional vision.
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