淡江大學機構典藏:Item 987654321/98926
English  |  正體中文  |  简体中文  |  全文筆數/總筆數 : 55224/89525 (62%)
造訪人次 : 10725011      線上人數 : 25
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
搜尋範圍 查詢小技巧:
  • 您可在西文檢索詞彙前後加上"雙引號",以獲取較精準的檢索結果
  • 若欲以作者姓名搜尋,建議至進階搜尋限定作者欄位,可獲得較完整資料
  • 進階搜尋
    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/987654321/98926


    題名: A Practical Fuzzy Controller with Q-learning Approach for the Path Tracking of a Walking-aid Robot
    作者: Lee, Tsu-Tian;Lin, Chun-Tse;Chiang, Hsin-Han
    貢獻者: 淡江大學電機工程學系
    日期: 2013-09-14
    上傳時間: 2014-09-25 10:43:44 (UTC+8)
    摘要: 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.
    關聯: 2013 Proceedings of SICE Annual Conference, pp.888-893
    顯示於類別:[電機工程學系暨研究所] 會議論文

    文件中的檔案:

    檔案 描述 大小格式瀏覽次數
    A Practical Fuzzy Controller with Q-learning Approach for the Path Tracking.pdf530KbAdobe PDF352檢視/開啟
    index.html0KbHTML145檢視/開啟

    在機構典藏中所有的資料項目都受到原著作權保護.

    TAIR相關文章

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