移動機器人之二級式區間第二類模糊控制

Abstract

一般而言，機器人在未知環境中，為了可以自主導航及完成工作任務，通常需要使用大量的感測器來感測環境變化。一般的傳統模糊邏輯控制器會因感測器的數量過多而造成模糊規則過於龐大，不利於即時控制。若使用二級式模糊邏輯控制器將機器人動作做切割，當動作較單純時，可利用少量的感測器完成控制，讓模糊規則減少，以順利完成即時控制。但此一設計在即時控制時，卻容易受感測器或環境的雜訊影響，增加控制難度，因此本文提出二級式區間第二類模糊控制器，利用區間第二類模糊邏輯可以涵蓋較多不確定因素之特性，減低雜訊產生時對控制器造成的影響，使機器人控制可以更加流暢。 本文整合雷射測距儀、電子羅盤、視覺系統等感測器，使用全方向輪系統移動機器人來驗證使用二級式區間第二類模糊設計控制器，可以達到控制機器人的效能，並可降低雜訊帶來的影響。For autonomous guidance in an unknown environment, a mobile robot generally requires a large number of sensors. The traditional fuzzy control methods for mobile robots with a numerous number of sensors are unfavorable to control immediately because the design of the fuzzy rules becomes very complicated. If a fuzzy system for mobile robots is divided into many stages, the number of the fuzzy rules will reduce largely. Moreover, environment disturbances, sensor noises and uncertain factors exist together. These factors affect the control precision and performance of mobile robots. Therefore, this thesis uses a method of two-stage interval type-2 fuzzy logic control in order to more smoothly implement on mobile robots because the influence of the uncertain factors is diminished by type-2 fuzzy logic system. To verify the effectiveness and applicability of the proposed method, we design and implement a mobile robot, and the main structure of the mobile robot includes an omnidirectional mobile system, one laser sensor, one electronic compass sensor, one vision sensor, and so forth.