會議論文
| 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 | en |
| 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 | JPN |
| 公開徵稿 | Y |
| 出版型式 | 電子版 |
| 出處 | 2013 Proceedings of SICE Annual Conference, pp.888-893 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/98926 ) |