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    請使用永久網址來引用或連結此文件: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/118312

    題名: Fuzzy Navigation System for ROS Based Autonomous Robot in Static Environment
    其他題名: 基於ROS在靜態環境之自主機器人的模糊導航系統
    作者: P.K. Singh;W.F. Lai;Y.C. Lin;C.C. Liu;C.C. Wong
    關鍵詞: Fuzzy Logic;Gazebo;Humanoid Robot;Navigation;Robot Operating System (ROS);Trajectory Planning
    日期: 2019-11-07
    上傳時間: 2020-03-17 12:10:28 (UTC+8)
    摘要: This paper describes the design and implementation of a trajectory tracking and planning controller using Fuzzy logic for autonomous robots including both mobile and humanoid to navigate in the static environment. The kinematic model has been created for the autonomous robot using the kinematics equations of the differential driving rolling wheel. As the robot uses webcam to get the live image, image binarization has been shown using the object segmentation method by using the color code table of color model in the image processing. Finally, the robot uses a fuzzy logic controller to follow a planned path and avoid unknown obstacles by controlling the velocity and steering angle of the drive unit. Both line following and obstacle avoidance approach has been considered. The controller is a two input and two output system. It is a tracked vehicle which is more suitable for indoor use. The fuzzy control system has been designed and implemented in Robot Operating System (ROS) under Ubuntu 16.01 operating system and tested under Gazebo simulation. Finally, several experiments and results have been presented to demonstrate the effectiveness of fuzzy logic control system on the autonomous robots.
    顯示於類別:[電機工程學系暨研究所] 會議論文


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