Obstacle Avoidance and Motion Control of Mobile Robots
碩士 === 明新科技大學 === 電機工程研究所 === 100 === This thesis proposes the integrated design of the point-to-point control and the obstacles avoidance control for the motion control of mobile robots in the environment of distributed obstacles. The motion control of robots is a basic requirement for the robotic...
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| Format: | Others |
| Language: | zh-TW |
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2011
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| Online Access: | http://ndltd.ncl.edu.tw/handle/60332159684175726982 |
| Summary: | 碩士 === 明新科技大學 === 電機工程研究所 === 100 === This thesis proposes the integrated design of the point-to-point control and the obstacles avoidance control for the motion control of mobile robots in the environment of distributed obstacles. The motion control of robots is a basic requirement for the robotic control. How to arrive the goals safely in the environment having obstacles has been an important research topic of robotics in recent years. The thesis first proposes a new point-to-point controller. Two methods of obstacles avoidance are then given. These methods are integrated to help the motion control of robots under the environment with obstacles.
The proposed point-to-point controller has robustness and the fast convergence. Simulations are used to verify the effectiveness. For the research purpose, robots usually have many sensors to help the control of robots. Instead of such approach, the thesis would like to use fewer sensors to achieve the obstacles avoidance. Indeed, we use only three ultrasonic sensors and two encoders to achieve the same goal. The integrated experiments are realized on the X80 robot made by Dr. Robot. The experimental results show the good performance of the proposed methods.
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