Fuzzy Navigation System for ROS Based Autonomous Robot in Static Environment
學年 108
學期 1
發表日期 2019-11-07
作品名稱 Fuzzy Navigation System for ROS Based Autonomous Robot in Static Environment
作品名稱（其他語言） 基於ROS在靜態環境之自主機器人的模糊導航系統
著者 P.K. Singh; W.F. Lai; Y.C. Lin; C.C. Liu; C.C. Wong
作品所屬單位
出版者
會議名稱 International Conference on Fuzzy Theory and Its Applications (iFUZZY)
會議地點 New Taipei City, Taiwan
摘要 This paper describes the design and implementation of a trajectory tracking and planning controller using Fuzzy logic for autonomous robots including both mobile and humanoid to navigate in the static environment. The kinematic model has been created for the autonomous robot using the kinematics equations of the differential driving rolling wheel. As the robot uses webcam to get the live image, image binarization has been shown using the object segmentation method by using the color code table of color model in the image processing. Finally, the robot uses a fuzzy logic controller to follow a planned path and avoid unknown obstacles by controlling the velocity and steering angle of the drive unit. Both line following and obstacle avoidance approach has been considered. The controller is a two input and two output system. It is a tracked vehicle which is more suitable for indoor use. The fuzzy control system has been designed and implemented in Robot Operating System (ROS) under Ubuntu 16.01 operating system and tested under Gazebo simulation. Finally, several experiments and results have been presented to demonstrate the effectiveness of fuzzy logic control system on the autonomous robots.
關鍵字 Fuzzy Logic;Gazebo;Humanoid Robot;Navigation;Robot Operating System (ROS);Trajectory Planning
語言 en
收錄於
會議性質 國際
校內研討會地點 淡水校園
研討會時間 20191107~20191110
通訊作者
國別 TWN
公開徵稿
出版型式
出處
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/118312 )