Obstacle Avoidance Controller Design for Wheeled Robot

• Main Authors: CHUANG, I-CHI, 莊易輯
• Other Authors: CHANG, CHIA-WEN
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/54136089096082040379

碩士 === 銘傳大學 === 電腦與通訊工程學系碩士班 === 105 === In this thesis, a hierarchical fuzzy algorithm is adopted to design the obstacle avoidance controller for the Dr Robot X80 wheeled robot. In practice, the problem of obstacle avoidance is an important issue in the wheeled robot control area. To detect the surrounding obstacle, the sensors are needed, such as the ultrasonic distance sensors. However, the problem of multi-input fuzzy controller is that the number of rule would be increased exponentially. Therefore, this thesis presents a hierarchical based fuzzy obstacle avoidance controller to reduce the rule number and the computational complexity. To validate the effectiveness of the proposed method, the Dr Robot X80 robot is used as the test platform. The experiment results empirically support the promising performance of the presented controller.