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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/91671

    Title: 動態避障下之路徑規劃
    Other Titles: Path Planning for Dynamic Obstacle Avoidance
    Authors: 翁慶昌;侯惠傑;賴宏仁
    Contributors: 淡江大學電機工程學系
    Keywords: 路徑規劃;避障;機器人;模糊系統;Path Planning;Obstacle Avoidance;Robot;Fuzzy System
    Date: 2001-05
    Issue Date: 2013-07-24 11:47:55 (UTC+8)
    Publisher: 臺北縣淡水鎮:淡江大學
    Abstract: 本論文所提出的路徑搜尋法目的是為了讓機器人在動態的環境之下,作即時的路徑規劃。而所提出的方法主要是讓機器人在目標及障礙物都處於動態的情況之下,能夠即時的避開障礙物來逼近所追求的目標。經由模擬的結果,證明在各種不同的狀況下,機器人能在避開障礙物的前提之下來逼近所追求的目標。
    A mobile robot navigation system that combines a new path planningapproach with fuzzy system is proposed in this paper. The algorithmplans a suitable path in the field, such that the robot can avoidmovable obstacles in real time, and reach the goal from initialposition. First, the temporary target of mobile robot will bedetermined according to the positions of robot and obstacles in thevisional information. Next, a fuzzy controller is designed forcontrolling the mobile robot to approach the temporary target.Finally, the path from initial position to goal is composed of severalsmall temporary sections that are designed by the conditions of mobilerobot and obstacles in real time. Some simulation results areillustrated the effectiveness of the proposed algorithm.
    Relation: 第三屆海峽兩岸航空太空學術研討會論文集,頁335-340
    Appears in Collections:[Graduate Institute & Department of Electrical Engineering] Proceeding

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