模糊量測理論應用於自走車行走控制

Abstract

本論文主要目的在於設計一具有避障功能之自走車，文中所使用模糊量測方法搭配移動式自走車(Pioneer 3-DX)改善超音波感測器不準確的特性，將超音波感測器做為模糊量測系統的輸入，做閃避障礙物判斷的依據，讓自走車在未知空間中進行閃避障礙物與沿牆行走等功能，將自走車的行走路徑紀錄起來，並且使用超音波感測器對自走車移動時所經過的環境做建構。論文中使用 Visual Studio OPEN GL 撰寫模擬程式，在模擬中行走於方形與圓形等未知環境，佐證模糊量測理論使用於自走車上實行閃避障礙物的可行性，並比較未加上模糊量測時自走車的行走狀況，最後以實作的方式，驗證模糊量測理論運用在自走車上的行走效能，在有加上模糊量測理論的路徑會比未加上模糊量測理論時更加穩定。

The major purpose of this thesis is to design an mobile robot that is able to keep away from obstacles. The fuzzy measure methods used in the thesis applied on movable mobile robot (Pioneer 3-DX) improve the features of the inaccuracy of ultrasonic sensor. The ultrasonic sensor will be used as the input of fuzzy measure system. The output will be introduced to fuzzy measure as the determination for the principle of averting obstacles, so that the mobile robot can move in unknown space to dodge obstacles and move along walls. The moving routes of mobile robot can be recorded, and established the map used ultrasonic sensors. In the thesis, a program is written by Visual Studio OPEN GL for simulation. The feasibility that the fuzzy measure theory based on mobile robot to dodge obstacles was verified with various unknown space, and compared the running of mobile robot that is not included with fuzzy measure. Finally, the running results when fuzzy measure theory is applied on mobile robot are analyzed to verify the performance of fuzzy measure theory used on mobile robot. The results show that using the fuzzy measure controller exhibits a better performance movement behavior than that using a controller without fuzzy measure.