English  |  正體中文  |  简体中文  |  Items with full text/Total items : 28608/40649
Visitors : 6440283      Online Users : 61
RC Version 4.0 © Powered By DSPACE, MIT. Enhanced by NTU Library IR team.
Scope Adv. Search

Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/41022

Title: Application of Potential Field Method and Optimal Path Planning to Mobile Robot Control
Authors: Chia-Chia Kao;Chih-Min Lin;Jih-Gau Juang
Contributors: 國立臺灣海洋大學:通訊與導航工程學系
Date: 2015
Issue Date: 2017-02-08T02:24:40Z
Publisher: Automation Science and Engineering (CASE), 2015 IEEE International Conference on
Abstract: Abstract: The objective of this study is to apply differential global positioning system (DGPS) and an improved artificial potential field (APF) method to a wheeled mobile robot (WMR) for path planning under unknown environment. A laser sensor is utilized to detect obstacles and surroundings. With the distance information given by the laser sensor, the repulsive force is used for collision-free of the WMR. By the iterative closest point (ICP) algorithm, the rotation and translation information can be calculated and utilized to aid the position and attitude determination. Fuzzy theory is applied to change the attractive factor to improve the zigzag trajectory. To deal with the local minimum problem, we add the path finding method A* algorithm to find the shortest unblocked path to destination. With the integration of fuzzy rule, positioning and path finding algorithms, the APF can be created. The experiments confirm that the proposed control scheme works properly.
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/41022
Appears in Collections:[通訊與導航工程學系] 演講及研討會

Files in This Item:

File Description SizeFormat

All items in NTOUR are protected by copyright, with all rights reserved.


著作權政策宣告: 本網站之內容為國立臺灣海洋大學所收錄之機構典藏,無償提供學術研究與公眾教育等公益性使用,請合理使用本網站之內容,以尊重著作權人之權益。
網站維護: 海大圖資處 圖書系統組
DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library IR team Copyright ©   - Feedback