教師資料查詢 | 類別: 期刊論文 | 教師: 黃志良 CHIH-LYANG HUANG (瀏覽個人網頁)

標題:Fuzzy decentralized sliding-mode control of car-like mobile robots in a distributed sensor-network space
學年96
學期2
出版(發表)日期2008/02/01
作品名稱Fuzzy decentralized sliding-mode control of car-like mobile robots in a distributed sensor-network space
作品名稱(其他語言)
著者黃志良
單位淡江大學電機工程學系
出版者
著錄名稱、卷期、頁數IEEE Transactions on Fuzzy Systems 16(1), pp.97-109
摘要In this paper, the trajectory tracking and (dynamic) obstacle avoidance of a car-like mobile robot (CLMR) within distributed sensor-network spaces via fuzzy decentralized sliding-mode control (FDSMC) is developed. To implement trajectory tracking and (dynamic) obstacle avoidance, two distributed charge-coupled device (CCD) cameras are set up to realize the dynamic position of the CLMR and the obstacle. Based on the control authority of these two CCD cameras, a suitable reference trajectory including desired steering angle and forward-backward velocity for the proposed controller of the CLMR is planned. It is also transmitted to the CLMR by a wireless module. The proposed FDSMC can track a reference trajectory without the requirement of a mathematical model. Only the input-output data pairs of the CLMR and the upper bound of its dynamics are required for the selection of suitable scaling factors. The proposed control system includes two processors with multiple sampling rates. One is a personal computer employed to obtain the image of the CLMR and the obstacle, to plan a reference trajectory for the CLMR, and then to transmit the planned reference trajectory to the CLMR. The other is a digital signal processor (DSP) implementing in the CLMR to control two dc motors. Finally, a sequence of experiments is carried out to confirm the performance of the proposed control system.
關鍵字Fuzzy control;Sliding mode control;Mobile robots;Trajectory;Charge coupled devices;Charge-coupled image sensors;Velocity control;Control systems;Robot vision systems;Cameras
語言英文(美國)
ISSN1063-6706;1941-0034
期刊性質國外
收錄於
產學合作
通訊作者
審稿制度
國別美國
公開徵稿
出版型式,電子版,紙本
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