Department of Electrical Engineering, National Chin-Yi University of Technology, Taichung 41170, Taiwan.
Sensors (Basel). 2012 Oct 16;12(10):13947-63. doi: 10.3390/s121013947.
The paper demonstrates a following robot with omni-directional wheels, which is able to take action to avoid obstacles. The robot design is based on both fuzzy and extension theory. Fuzzy theory was applied to tune the PMW signal of the motor revolution, and correct path deviation issues encountered when the robot is moving. Extension theory was used to build a robot obstacle-avoidance model. Various mobile models were developed to handle different types of obstacles. The ultrasonic distance sensors mounted on the robot were used to estimate the distance to obstacles. If an obstacle is encountered, the correlation function is evaluated and the robot avoids the obstacle autonomously using the most appropriate mode. The effectiveness of the proposed approach was verified through several tracking experiments, which demonstrates the feasibility of a fuzzy path tracker as well as the extensible collision avoidance system.
本文展示了一种具有全方位车轮的机器人，它能够采取行动避免障碍物。机器人的设计基于模糊和可拓理论。模糊理论用于调整电机旋转的 PMW 信号，并纠正机器人移动时遇到的路径偏差问题。可拓理论用于建立机器人避障模型。开发了各种移动模型来处理不同类型的障碍物。安装在机器人上的超声波距离传感器用于估计与障碍物的距离。如果遇到障碍物，则评估相关函数，并使用最合适的模式自主避开障碍物。通过几个跟踪实验验证了所提出方法的有效性，证明了模糊路径跟踪器和可拓避碰系统的可行性。
