Automatic Navigation of a Wheeled Mobile Robot Using Particle Swarm Optimization and Fuzzy Control

• Main Authors: Shih-Chun Liu, 劉詩群
• Other Authors: Hung-Yuan Chung
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/67611236978254420813

碩士 === 國立中央大學 === 電機工程研究所 === 99 === This paper develops a approach of Navigation for a wheeled mobile robot(WMR). Next, the local map is constructed by using a sensor.The WMR will arrive at the destination which is assigned by users. Additionally, it is very important how to find the collision-free and the shortest path for the WMR. Particle Swarm Optimization(PSO) is usually applied for optimization problems, but the convergence speed and the parameter setting are better than those of the GA. It’s easy for implementation, and the turn angle and the forward distance as main factors of problem. Finally , the best path after many times of iteration can be obtained. In addition, Fuzzy Conrol is used to solve special condition under which, WMR may be stuck in the same road. In this work, experimental results are given to demonstrate the feasibility of this method