Design of Adaptive Critic Controller for Autonomous Driving of a Wheeled Mobile Robot
Date Issued
2005
Date
2005
Author(s)
Chang, Liang-Hao
DOI
en-US
Abstract
目前對於輪式行動機器人動態模式的研究大都假設在輪子純轉動的條件下，也就是必須考慮沒有滑動的情形，而我們的研究主要是針對輪式行動機器人在泥濘的路面上行走所產生的效應，則不得不考慮滑動的影響。主要的工作為推導在考慮路面條件下機器人的數學模型，以及發展一個具有評斷機制與學習的控制器，整個控制器的架構包含一個模糊姿態控制器和一個自評自調速度控制器。而姿態控制器根據姿態誤差經由經驗法則而產生一組速度命令以減少姿態的誤差。而速度控制器可在未知路面情況下根據自我學習與最佳化的能力而使得受控系統的速度反應能追隨期望的速度命令。利用電腦模擬，藉由輪式行動機器人行走在多個泥濘的路上驗證我們所提出的控制架構。而結果顯示自評自調控制器可成功的在未知的路面情況的條件下運用。
Previous researches on dynamic behavior about the wheeled mobile robot are mostly assuming a purely rolling case, i.e. no slipping. Instead, this research focuses on the wheeled mobile robot moving on muddy surface, on which the wheels may slip. The main contributions are deriving the mathematical model of the robot taking the road condition into consideration and developing the controller based on adaptive critic design. The controller is composed of a fuzzy posture controller and an adaptive critic velocity controller. The posture controller adopts posture error as inputs and produces desired velocities by fuzzy logic inference. The adaptive critic velocity controller conducts the linear and angular velocities with the capabilities of self-learning and optimization in response to unknown road condition and unmodeled nonlinearity. By computer simulation, the proposed design has been verified carefully by driving the wheeled mobile robot on variant muddy surface. The results show that the proposed adaptive critic velocity controller is a successful design to comply with unknown road conditions.
Subjects
自主控制
適應性評價
autonomous navigation
adaptive critic
Type
thesis
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