Design of Adaptive Critic Controller for Autonomous Driving of a Wheeled Mobile Robot
碩士 === 國立臺灣大學 === 電機工程學研究所 === 93 === Previous researches on dynamic behavior about the wheeled mobile robot are mostly assuming a purely rolling case, i.e. no slipping. Instead, this research focuses on the wheeled mobile robot moving on muddy surface, on which the wheels may slip. The main contrib...
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| Format: | Others |
| Language: | en_US |
| Published: |
2005
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| Online Access: | http://ndltd.ncl.edu.tw/handle/14295965856940478940 |
| Summary: | 碩士 === 國立臺灣大學 === 電機工程學研究所 === 93 === Previous researches on dynamic behavior about the wheeled mobile robot are mostly assuming a purely rolling case, i.e. no slipping. Instead, this research focuses on the wheeled mobile robot moving on muddy surface, on which the wheels may slip. The main contributions are deriving the mathematical model of the robot taking the road condition into consideration and developing the controller based on adaptive critic design. The controller is composed of a fuzzy posture controller and an adaptive critic velocity controller. The posture controller adopts posture error as inputs and produces desired velocities by fuzzy logic inference. The adaptive critic velocity controller conducts the linear and angular velocities with the capabilities of self-learning and optimization in response to unknown road condition and unmodeled nonlinearity. By computer simulation, the proposed design has been verified carefully by driving the wheeled mobile robot on variant muddy surface. The results show that the proposed adaptive critic velocity controller is a successful design to comply with unknown road conditions.
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