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研究生：	張原華
論文名稱：	植基於模糊法則之室內機器人導航設計 Mobile Robot Navigation with Fuzzy Rules in Indoor Environment
指導教授：	曾煥雯
學位類別：	碩士 Master
系所名稱：	電機工程學系 Department of Electrical Engineering
論文出版年：	2010
畢業學年度：	98
語文別：	中文
論文頁數：	97
中文關鍵詞：	室內導航、模糊法則、雷射測距儀、電子羅盤
英文關鍵詞：	Indoor navigation, Fuzzy rule, Laser range finder, Compass
論文種類：	學術論文
相關次數：	點閱：226 下載：7
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查詢本校圖書館目錄查詢臺灣博碩士論文知識加值系統勘誤回報

目前行動機器人已經被廣泛的使用在各領域中，為了提高居家生活品
質，用來輔助人類生活的行動機器人也漸漸的開發出來，本論文提出使用
模糊法則進行導航的工作，使用雷射測距儀來執行障礙物閃避之工作，電
子羅盤來取得環境之方向。
行動機器人導航分為水平障礙物閃避及地面障礙物閃避兩種模式，水
平偵測模式能進行大部份之障礙物閃避之工作，而搭配地面偵測模式能讓
機器人在未知的室內環境下進行安全及正確的導航行為。
本研究在實驗室模擬一般之室內環境，如單一水平障礙物、連續型水
平及地面障礙物、水平與可橫越之地面障礙物等環境。在導航實驗中，對
於起始座標與終點座標之初始角度大小及路徑長短等問題，皆有進一步的
討論，以用來改善導航的準確率。

Now mobile robot be used in all kinds of field. For upgrade the quality of life,more and more mobile robots are developed to help people life. In this paper, the
navigation is based on fuzzy rules, laser range finder be used to avoid the obstacles, and obtains the direction by compass.
There are horizontal obstacle avoidance and ground obstacle avoidance of the mobile robot. The horizontal obstacle avoidance can avoid most of the obstacles. Using ground obstacle avoidance with horizontal mode could raise the safety and accuracy of the navigation task in unknown indoor environment.
In the research, the simulations of general environment are in laboratory.The environments are single horizontal obstacle, horizontal obstacle and ground obstacle side by side, horizontal obstacle and can be traversed obstacle and so forth. The effects of angle of start coordinate and goal coordinate, and the length of navigation distance are be discussed to improve the accuracy of the navigation experiment.

中文摘要.............................................................................................................I
英文摘要........................................................................................................... II
圖目錄...............................................................................................................V
表目錄........................................................................................................... VIII
第一章緒論.................................................................................................1
1 研究背景及動機.....................................................................................1
2 研究目的................................................................................................1
3 研究方法................................................................................................2
4 研究限制................................................................................................3
5 研究步驟................................................................................................3
第二章文獻探討與回顧.............................................................................5
前言................................................................................................................5
1 相關研究................................................................................................6
2 電子羅盤基本原理.................................................................................8
3 雷射原理介紹.........................................................................................9
3.1 雷射基本原理...............................................................................10
3.2 雷射測距儀...................................................................................14
4 模糊理論基礎觀念...............................................................................15
4.1 模糊集合簡介...............................................................................15
4.2 模糊集合的基本運算...................................................................18
4.3 模糊集合的基本定律與性質........................................................20
4.4 模糊數與歸屬函數.......................................................................21
4.5 模糊關係.......................................................................................24
4.6 模糊邏輯控制器...........................................................................26
第三章系統實驗設計...............................................................................31
1 機器人運動方程式...............................................................................31
1.1 目標追蹤之行為設計...................................................................31
2 障礙物閃避模式...................................................................................40
2.1 水平障礙物閃避機制...................................................................41
2.2 地面障礙物閃避機制...................................................................46
3 控制法則優先順序...............................................................................51
IV
第四章 系統軟硬體架構...........................................................................55
1 機器人系統架構與設計.......................................................................55
1.1 機器人架構...................................................................................55
1.2 機器人實體配置...........................................................................56
1.3 感測系統.......................................................................................57
1.4 控制系統.......................................................................................58
1.5 驅動系統.......................................................................................61
1.6 感測器配置...................................................................................63
第五章實驗結果與分析...........................................................................67
1 雷射測距儀性能分析...........................................................................67
2 機器人導航實驗...................................................................................71
第六章結論與後續研究...........................................................................92
1 結論......................................................................................................92
2 後續研究..............................................................................................92
參考文獻..........................................................................................................94
作者簡介..........................................................................................................97
                                

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