本篇論文是應用具有分佈式感應器的網路空間之模糊分散式滑動控制於自走車軌跡追蹤及靜(動)態障礙之閃躲。首先使用兩個分散的CCD擷取自走車及障礙物的相關動態位置，以進行軌跡追蹤及靜(動)態障礙之閃躲。在此基礎下，利用無線模組對自走車傳送合適的前輪轉角及後輪速度。搭配模糊理論即可追蹤一參考軌跡，不需使用其他數學模組。此控制系統包括兩個不同取樣頻率之處理器：一為應用個人電腦擷取自走車及障礙物的影像，以規劃一參考軌跡，並傳送至自走車；另一個為裝置於自走車上的數位訊號處理器，用以控制兩直流馬達。最後，用一系列的實驗來證明此控制系統的可行性

In this thesis, the trajectory tracking and (dynamic) obstacle avoidance of a mobile robot within distributed sensor-network space via fuzzy decentralized sliding-mode control (FDSMC) was developed. To implement trajectory tracking and (dynamic) obstacle avoidance, two distributed CCD (charge-coupled device) cameras were set up to realize the dynamic position of the mobile robot and the obstacle. Based on the control authority of these two CCD cameras, a suitable reference trajectory including desired steering angle and linear velocity for the proposed controller of the mobile robot was planned. It was also transmitted to the mobile robot by a wireless module. The proposed fuzzy decentralized sliding-mode control could track a reference trajectory without the requirement of a mathematical model. Only the information of the upper bound of system knowledge was required to select the suitable scaling factors and coefficients of sliding surface so that an acceptable performance was achieved. The proposed control system included two processors with multiple sampling rates. One personal computer was employed to capture the image of CLMR and obstacle, to plan a reference trajectory for the CLMR, and then to transmit the reference trajectory to the CLMR. The other was a DSP implementing in the CLMR to control two DC motors. Finally, a sequence of experiments was carried out to confirm the performance of the proposed control system.

ABSTRACT………………………………………………………………………………i
摘要……………………………………………………………………………………….iii
ACKNOWLEDGMENT………………………………………………………………...iv
CONTENTS…………………….………………………………………………………...v
LIST OF FIGURES…………………………………………..…………………………vi
LIST OF TABLES…………………………………..………………………………....viii
Chapter 1 INTRODUCTION……………………………………………………………1
Chapter 2 SYSTEM DESCRIPTIONAND PROBLEM FORMULATION …………4
2.1 System Description………………………………………………………………4
2.2 Problem Formulation……………………………………………………………..7
Chapter 3 FUZZY DECENTRALIZED SLIDING-MODE CONTROL ……………9
Chapter 4 EXPERIMENTAL RESULTS …………………………………………….13
4.1 Pose Estimation…………………………………………………………………13
4.2 Experimental Results …………………………………………………………...13
Chapter 5 CONCLUSIONS……………………………………………………………17
REFERENCES………………………………………………………………….………18


LIST OF FIGURES
Fig. 1. The block diagram of the overall system ………………………………………...21
Fig. 2. Kinematic model of a CLMR……………………………………………………..21
Fig. 3. Realization of the CLMR…………………………………………………………22
Fig. 4. The block diagram of the Matrox Meteor II Multi-Channel. …………………….23
Fig. 5. The estimation of the position and orientation of CLMR using three LEDs. ……23
Fig. 6. Definition of various coordinates. ………………………………………………..24
Fig. 7. The intelligent space via two CCDs………………………………………………24
Fig. 8. Block diagram of fuzzy decentralized sliding-mode control. ……………………25
Fig. 9. Membership function with triangular type. ………………………………………25
Fig. 10. The responses of CLMR without the subjection of external load by using FDSMC. ……………………………………………………………………………..26~27
Fig. 11. The strategy for the avoidance of static obstacle………………………………..28
Fig. 12. The illustration of starting to avoid obstacle in Fig. 11…………………………28
Fig. 13. The illustration of the relation between minimum distance and distance in Fig.11……………………………………………………………………………………..29
Fig. 14. The strategy for the avoidance of dynamic obstacle. …………………………...29
Fig. 15. The responses of trajectory tracking for different initial poses of the CLMR without the subjection of any obstacle in distributed sensor-network space. ……………30
Fig. 16. The responses of trajectory tracking for different initial poses of the CLMR with two kind of static obstacles in distributed sensor-network space…………………….31~32
Fig. 17. The responses of trajectory tracking for different initial pose of the CLMR with one static obstacle and one dynamic obstacle in distributed sensor-network space……...33
Fig. 18. The responses of steering angle and linear velocity for the Fig. 15 (a)………….34
Fig. 19. The responses of steering angle and linear velocity for the Fig. 16 (b). ………...35


LIST OF TABLES
Table 1. Basic specifications of CLMR. …………………………………………………36
Table 2. Rule table of the ith FSMC………………………………………………………36
Table 3. Look-up table of the ith FSMC. ………………………………………………...36
Table 4. Shows the position (x,y) cm of CLMR with respect to the world coordinate and the estimation by the CCD1………………………………………………………………37
Table 5. Shows the position (x,y) cm of CLMR with respect to the world coordinate and the estimation by the CCD2………………………………………………………………38

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