Fuzzy control of obstacle avoidance and positioning for mobile omni-wheel robot
碩士 === 健行科技大學 === 電機工程系碩士班 === 103 === In this thesis, a remote omni-wheels robot position control and obstacle avoidance with bluetooth transmission is designed based on fuzzy control, the omni-wheel robot don''t change attitude when robot move to any position and don'&a...
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| Format: | Others |
| Language: | zh-TW |
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2015
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| Online Access: | http://ndltd.ncl.edu.tw/handle/49313534261036354398 |
| Summary: | 碩士 === 健行科技大學 === 電機工程系碩士班 === 103 === In this thesis, a remote omni-wheels robot position control and obstacle avoidance with bluetooth transmission is designed based on fuzzy control, the omni-wheel robot don''t change attitude when robot move to any position and don''t have turning radius when robot turning. A fuzzy controller is proposed for a three omni-wheels robot assembled with Lego Mindstorms NXT. There are three parts of this thesis. The first part is design a fuzzy controller to decrease the error when robot moving. The results are provided to demonstrate the effectiveness of the proposed controller. Second part is using RFID reader and tag to set the coordinates. Omni-wheel robot will forward to the coordinates that set by tag. Third part is using three ultrasonic sensors in front of omni-wheel robot, the sensors will count the distance between the omni-wheel robot and obstacle. Design a fuzzy controller using sensor''s return value. The robot can be obstacle avoiding with ultrasonic sensors. The results are provided to demonstrate the effectiveness of the proposed controller.
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