- 作者: 宋開泰; 戴任詔
- 作者服務機構: 交通大學控制工程研究所
- 中文摘要: 一個基於模糊邏輯控制之無人搬運車巡航系統被發展出來,使無人車可以在一未知環境中運動。此模糊巡航系統主要由感測系統、模糊控制器、及運動控制系統所組成。十組超音波感測器被安置在自走車上,用來對周圍障礙物作距離量測。量得之感測資訊首先被模糊化,然後成為模糊控制器之輸入。三個狀態與五個量級被用來定義模糊集合。兩個模糊控制器共同組成以處理巡航問題:一個照顧左轉,另一個照顧右轉。每一個控制器皆有四個輸入,兩個輸出及八十一個規則。輸出是送到運動控制系統的速度命令。此控制器藉目的地、無人搬運車之當時位置及感測資訊,決定無人搬運車之運動。虛牆及虛目標等非模糊化技巧的整合運用,可增強原始模糊控制器之功能。電腦模擬先被用來試驗此系統之性能;實際實驗則是以實驗室自製之無人搬運車,在實驗室及走廊中進行。部份模擬與實驗之結果顯示於此論文中。
- 英文摘要: A navigation system based on fuzzy logic control is developed for a mobile robot working in anunknown environment. The structure of this fuzzy navigation system features the combination of a sensorsystem, fuzzy logic controller and motion control system. Ten ultrasonic sensors on-board the vehicleare used for distance measurement to the immediate obstacles. Sensor data are fuzzified to be the inputsof the fuzzy logic controllers. Three states, each with five quantized levels, are used to define the fuzzyset. Two fuzzy logic controllers are designed to handle the navigation problem in a two-dimensional plane.The outputs are the commanding velocities sent to the lower level motion control system. The performanceof the controller was tested firstly by computer simulation. It was found that the performance of the newlydesigned fuzzy logic controllers was not acceptable and some heuristic virtual concepts were added toenhance the navigation capability Practical implementation on an experimental mobile robot has beencarried out to demonstrate the navigation capability. Satisfactory results have been obtained and arepresented in this article.
- 中文關鍵字: fuzzy logic control; mobile robot; automated guided vehicle
- 英文關鍵字: --