Application of Fuzzy Theory to Wheeled Mobile Robot for Environment Exploration and Map Building

• Main Authors: Yu-Che Yang, 楊育哲
• Other Authors: Jih-Gau Juang
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/54991815551862609386

碩士 === 國立臺灣海洋大學 === 通訊與導航工程學系 === 99 === This study uses a wheeled mobile robot to explore unknown indoor environment and build up a map of the unknown environment. The robot utilizes ultrasonic and infrared sensors with indoor positioning system to detect obstacles and identify unknown environment. The localization system provides the position of the robot. Fuzzy theory is applied to control design. The proposed control scheme can control the wheeled mobile robot move along walls and avoid obstacles. The controller can be realized by MATLAB. Hardware implementation uses LABVIEW 8.6 to realize interface between human and machine. Angle and distance of the wheeled mobile robot are then used to obtain the path trajectory. With sensed data of obstructions and walls, a map of unknown environment can be generated by curve fitting methods. The proposed control scheme is tested in four different terrains. The experiments confirm that the map building control scheme works properly.