教師資料查詢 | 類別: 會議論文 | 教師: 李祖添 TSU-TIAN LEE (瀏覽個人網頁)

標題:A Practical Fuzzy Controller with Q-learning Approach for the Path Tracking of a Walking-aid Robot
學年102
學期1
發表日期2014/09/14
作品名稱A Practical Fuzzy Controller with Q-learning Approach for the Path Tracking of a Walking-aid Robot
作品名稱(其他語言)
著者Lee, Tsu-Tian; Lin, Chun-Tse; Chiang, Hsin-Han
作品所屬單位淡江大學電機工程學系
出版者
會議名稱2013 International conference on Instrumentation, Control, Information Technology and System Integration (SICE 2013)
會議地點Nagoya, Japan
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.
關鍵字
語言英文
收錄於
會議性質國際
校內研討會地點
研討會時間20140914~20140917
通訊作者
國別日本
公開徵稿Y
出版型式電子版
出處2013 Proceedings of SICE Annual Conference, pp.888-893
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