English  |  正體中文  |  简体中文  |  Items with full text/Total items : 55176/89445 (62%)
Visitors : 10659012      Online Users : 17
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
Scope Tips:
  • please add "double quotation mark" for query phrases to get precise results
  • please goto advance search for comprehansive author search
  • Adv. Search
    HomeLoginUploadHelpAboutAdminister Goto mobile version
    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/98926

    Title: A Practical Fuzzy Controller with Q-learning Approach for the Path Tracking of a Walking-aid Robot
    Authors: Lee, Tsu-Tian;Lin, Chun-Tse;Chiang, Hsin-Han
    Contributors: 淡江大學電機工程學系
    Date: 2013-09-14
    Issue Date: 2014-09-25 10:43:44 (UTC+8)
    Abstract: This study tackles the path tracking problem of a prototype walking-aid (WAid) robot which features the human-robot interactive navigation. A practical fuzzy controller is proposed for the path tracking control under reinforcement learning ability. The inputs to the designed fuzzy controller are the error distance and the error angle between the current and the desired position and orientation, respectively. The controller outputs are the voltages applied to the left- and right-wheel motors. A heuristic fuzzy control with the Sugeno-type rules is then designed based on a model-free approach. The consequent part of each fuzzy control rule is designed with the aid of Q-learning approach. The design approach of the controller is presented in detail, and effectiveness of the controller is demonstrated by hardware implementation and experimental results under human-robot interaction environment. The results also show that the proposed path tracking control methods can be easily applied in various wheeled mobile robots.
    Relation: 2013 Proceedings of SICE Annual Conference, pp.888-893
    Appears in Collections:[Graduate Institute & Department of Electrical Engineering] Proceeding

    Files in This Item:

    File Description SizeFormat
    A Practical Fuzzy Controller with Q-learning Approach for the Path Tracking.pdf530KbAdobe PDF352View/Open

    All items in 機構典藏 are protected by copyright, with all rights reserved.

    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library & TKU Library IR teams. Copyright ©   - Feedback