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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/40831

Title: Type-2 Fuzzy Control of a Mobile Robot for Avoiding Moving Object
Authors: Jih Gau Juang
Chen Han Wu
Contributors: 國立臺灣海洋大學:通訊與導航工程學系
Keywords: Obstacle Avoidance
Fuzzy Control
Mobile Robot
Date: 2011
Issue Date: 2017-02-07T01:53:14Z
Publisher: Key Engineering Materials
Abstract: Abstract: This research utilizes type-2 fuzzy logic system to a wheeled mobile robot (WMR) for moving object avoidance. A CCD camera and a localization system are integrated in the control scheme. The wheeled mobile robot can adjust moving path by the position and heading angle, which are given from the localization system. Dynamic obstacle avoidance strategy is implemented in fuzzy rules. Distance between the WMR and an obstacle, center coordinate, heading angle, and displacement of the obstacle can all be obtained by image process and distance computation algorithm. Experiments show that the WMR can perform dynamic obstacle avoidance successfully.
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/40831
Appears in Collections:[通訊與導航工程學系] 期刊論文

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