期刊論文
| 學年 | 105 |
|---|---|
| 學期 | 2 |
| 出版（發表）日期 | 2017-07-01 |
| 作品名稱 | Sequentially switched fuzzy-model-based control for wheeled mobile robot with visual odometry |
| 作品名稱（其他語言） | |
| 著者 | Sun Chung-Hsun; Chen Ying-Jen; Wang Yin-Tien; Huang Sheng-Kaiac |
| 單位 | |
| 出版者 | |
| 著錄名稱、卷期、頁數 | Applied Mathematical Modelling 47, p.765-776 |
| 摘要 | This study focused on the Takagi–Sugeno (T–S) fuzzy-model-based control design for the differentially-driven wheeled mobile robot with visual odometry. The position and posture of the mobile robot are estimated by visual odometry. The polar kinematic model of the mobile robot is exactly converted to the T–S fuzzy model and then the fuzzy control design is synthesized to the fuzzy model. The sequentially switched fuzzy control design includes turning, forward motion as well as position and posture control modes. The stabilization is guaranteed based on the Lyapunov stability criterion. The practical constraints on the visual odometry are also satisfied in the control design. Finally, the experiment results demonstrate the effectiveness of the fuzzy-model-based control design for the mobile robot with visual odometry. |
| 關鍵字 | Wheeled mobile robot;Takagi–Sugeno (T–S) fuzzy model;Sequentially switched control;Visual odometry |
| 語言 | en_US |
| ISSN | 0307-904X |
| 期刊性質 | 國外 |
| 收錄於 | SCI EI |
| 產學合作 | |
| 通訊作者 | |
| 審稿制度 | 是 |
| 國別 | USA |
| 公開徵稿 | |
| 出版型式 | ,電子版 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/117001 ) |