Autonomous Ramp Detection and Climbing Systems for Tracked Robot Using Kinect Sensor
學年 102
學期 1
出版（發表）日期 2013-12-01
作品名稱 Autonomous Ramp Detection and Climbing Systems for Tracked Robot Using Kinect Sensor
作品名稱（其他語言）
著者 I.H. Li; W.Y. Wang; Y.H. Chien; N.H. Fang
單位
出版者
著錄名稱、卷期、頁數 International Journal of Fuzzy Systems 15(4), p.452-459
摘要 To detect a ramp and guide a tracked robot to complete the ramp-climbing task in an unknown environment, four tracked robot control modes are proposed in this paper. The modes are the exploration mode, aligning mode, calculating the tilt angle mode, and climbing mode. This self-made tracked robot only equips with a Kinect depth sensor; unfortunately, the sensing depth data, in general, incorporate with measuring uncertainties. To attenuate effects from uncertainties, this paper employs the type-1 fuzzy controller to take responsibility of speed control and direction control, and the interval type-2 fuzzy decision strategy to stabilize unnecessary variations occurred in the moment of switching between the four modes. Finally, experiments of autonomous ramp-climbing illustrate the performance of the proposed control scheme for the tracked robot.
關鍵字 Tracked robot;ramp detection and climbing system;interval type-2 fuzzy decision
語言 en
ISSN
期刊性質 國外
收錄於 SCI
產學合作
通訊作者
審稿制度 是
國別 DEU
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/987654321/115925 )

SDGS 產業創新與基礎設施