| Summary: | 碩士 === 中國文化大學 === 機械工程學系數位機電碩士班 === 105 === In recent years, with the interaction between people and robots increasingly frequent, showing the pet robot gradually progress into the next generation of electronic toys, the future of pet robots will have more variability and fun, pet robots need to be more anthropomorphic. However, the robot tracking system is very important, there are many studies proposed the use of distance sensors, the use of intelligent algorithm based on the controller, design a variety of control methods to enhance the robot's instant tracking speed and accuracy.
In this paper, we design a TSK fuzzy mobile controller suitable for pet robots, and the genetic algorithm as a parameter optimization of the modulation mechanism. Design process, the TSK fuzzy rule base is established firstly, and then the genetic algorithm is used to minimize the error adaptation function to find out the best parameters of the rule base, and then substitute TSK fuzzy Controller, the online control, in order to speed up the operation speed, this paper uses real type of chromosome.
In order to verify the effectiveness of the proposed method, the research process of this controller to MATLAB simulation, laboratory real pet robot platform experiment, from the simulation and experimental results, pet robot has a good real-time tracking ability.
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