Path Tracking and Obstacle Avoidance for a Wheeled Mobile Robot

• Main Authors: Meng-xuan Li, 李孟軒
• Other Authors: Hung-yuan Chung
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/13764192316560782146

碩士 === 國立中央大學 === 電機工程研究所 === 99 === This paper uses a kind of ant algorithm and the fuzzy control to design a wheeled mobile robot(WMR) that can move around in the office environment, and through the Genetic Algorithm to adjust the parameters to achieve a better state. 　　First, use the ant algorithm to find the best path between the starting point and the target point by office map. And then design a WMR via the fuzzy control. The purpose is to make the WMR have perform the path tracking and to avoid obstacles. The study also designs a method to avoid the WMR into the dead end and can’t achieve the task. After completion of the task, it will adjust parameters based on characteristics of obstacles. This method makes the WMR have more intelligent in the path planning. 　　In the experiment, use a laser range finder to apply environmental data from the wheeled mobile robot, and then use a position controller to find the information for the motor. Finally, simulations and experiments are given to verify the feasibility and effectiveness.