شماره ركورد
33648
پديد آورنده
فاطمه برجي
عنوان
كنترل رفتارپايه ربات هاي همكار چرخ دار با استفاده از سيستم فازي
مقطع تحصيلي
كارشناسي ارشد
رشته تحصيلي
مهندسي برق
سال تحصيل
1401
تاريخ دفاع
1401/02/02
استاد راهنما
آقاي دكتر فرخي
استاد مشاور
.
دانشكده
برق
چكيده
د ﺎﭘ ﯾنﺎ ﻪﻣﺎﻧ لﺮﺘﻨﮐ ، ﺎﭘرﺎﺘﻓر ﯾﻪاي هوﺮﮔ ياﺮﺑ تﺎﺑر يﺎﻫ ﻒﯾرﺎﻌﺗ ﯽﻓﺮﻌﻣ زا ﺲﭘ .ﺖﺳا هﺪﺷ دﺎﻬﻨﺸﯿﭘ رﺎﮑﻤﻫ
ﻪﺴﯾﺎﻘﻣ و ﯽﺳرﺮﺑ ﻂﺒﺗﺮﻣ ﻊﺟاﺮﻣ ،ﻪﯿﻟوا هﺪﺷ ﺪﻧا . ﯽﮐﻮﻠﺑ رادﻮﻤﻧ ﻢﯿﺳﺮﺗ ﺎﺑ ، ﻪﻠﺌﺴﻣ ﻪﺑ ترﻮﺻ نﺎﯿﺑ ﯽﻠﮐ ﺖﺳا هﺪﺷ .
ﺲﭙﺳ ، ﯽﻓﺮﻌﻣ ﻪﺑ ﺶﺨﺑ ﺎﻫي ﻒﻠﺘﺨﻣ لﺮﺘﻨﮐ هﺪﻨﻨﮐ ﻪﺘﺧادﺮﭘ ﻢﺘﺴﯿﺳ و ﺷﺪ ﺖﺳا ه عاﻮﻧا نﺎﯿﻣ رد . تﺎﺑر ﺎﻫ ، تﺎﺑر يﺎﻫ
خﺮﭼ راد ﯽﺳرﺮﺑ نآ ﺖﺤﺻ و ﯽﮑﯿﻣﺎﻨﯾد تﻻدﺎﻌﻣ و هﺪﺷ بﺎﺨﺘﻧا ﯽﻨﯿﻣز هﺪﺷ ﺪﻧا يرﺎﮑﻤﻫ . تﺎﺑر ﻦﯾا ﺎﻫ ﻪﺑ ترﻮﺻ
و هدﻮﺑ ﺮﮕﯾﺪﮑﯾ ﺎﺑ يزاﻮﻣ ماﺪﮐﺮﻫ ﺖﯾرﻮﻣﺄﻣ فﺪﻫ ﻪﺑ نﺪﯿﺳر دﻮﺧ .ﺪﻧراد ار ﺎﺑ ﻪﺟﻮﺗ ﻪﺑ ﺮﯾﺎﺳ و ﻒﻠﺘﺨﻣ ﻊﻧاﻮﻣ دﻮﺟو
تﺎﺑر ﺎﻫ دراد دﻮﺟو ﺰﯿﻧ درﻮﺧﺮﺑ ﺮﻄﺧ ،ﻂﯿﺤﻣ رد ؛ اﺮﺑﺎﻨﺑ ﯾﻦ ﺖﯾرﻮﻣﺄﻣ ﻪﯾﺎﭘ رﺎﺘﻓر ود ﻪﺑ ي» فﺪﻫ ﻪﺑ نﺪﯿﺳر « و» مﺪﻋ
ﻊﻧﺎﻣ ﺎﺑ درﻮﺧﺮﺑ « ﻪﯾﺰﺠﺗ ﺖﺳا هﺪﺷ ﻞﯿﺴﻧﺎﺘﭘ ناﺪﯿﻣ زا . ﻪﺑ ناﻮﻨﻋ لﺮﺘﻨﮐ هﺪﻨﻨﮐ هدﺎﻔﺘﺳا رﺎﺘﻓر ﺮﻫ ي ﻣﯽ ددﺮﮔ ﻪﮐ
يدورو نآ ﺎﻫ ﺮﮕﺴﺣ ﻖﯾﺮﻃ زا ﻪﮐ ﺖﺳا ﻂﯿﺤﻣ و ﻢﺘﺴﯿﺳ تﺎﻋﻼﻃا ﺎﻫ ﺖﻓﺎﯾرد ﯽﻣ دﻮﺷ ﺰﮐﺮﻤﺗ و يروآﻮﻧ . ﺎﭘ ﯾنﺎ ﻪﻣﺎﻧ
ﻪﻈﺤﻟ ﺮﻫ رد ﻊﻗاورد .ﺖﺳا رﺎﺘﻓر بﺎﺨﺘﻧا لوژﺎﻣ ﯽﺣاﺮﻃ رد ، ﯽﻟﺮﺘﻨﮐ نﺎﻣﺮﻓ ﮏﯾ ﺎﻬﻨﺗ ﻞﺑﺎﻗ اﺮﺟا ﺖﺳا لوژﺎﻣ و ،
ﻪﻔﯿﻇو ي ﻤﺼﺗ ﯿﻢﮔﯿﺮي ار ﻪﺑ ﯽﺣاﺮﻃ ﻦﯾا رد .دراد هﺪﻬﻋ ، يزﺎﻓ ﻢﺘﺴﯿﺳ زا ﻪﺑ ناﻮﻨﻋ هدﺎﻔﺘﺳا رﺎﺘﻓر بﺎﺨﺘﻧا لوژﺎﻣ
مﻮﺳ ﻞﺼﻓ رد ﻪﮐ ﺖﺳا هﺪﺷ ﺖﺳا هﺪﺷ ﻪﺋارا ﺲﭙﺳ . ، يدﺎﻬﻨﺸﯿﭘ ﻢﺘﯾرﻮﮕﻟا رد يﺎﻫﻮﯾرﺎﻨﺳ ﻂﯾاﺮﺷ و ﻒﻠﺘﺨﻣ
ﻂﯿﺤﻣ رد توﺎﻔﺘﻣ MATLAB ﭘﯿ هدﺎ زﺎﺳي هﺪﺷ ﺖﺳا ﻦﯿﻨﭽﻤﻫ . ، ﺖﻣوﺎﻘﻣ و يراﺪﯾﺎﭘ يدﺎﻬﻨﺸﯿﭘ شور ﺮﺑاﺮﺑ رد
ﻐﺗ ﯿ ﺮﺘﻣارﺎﭘ ﺮﯿ يﺎﻫ ﻢﺘﺴﯿﺳ و ﺰﯾﻮﻧ هاﺪﻧا يﺮﯿﮔ ﯽﺳرﺮﺑ ﺖﺳا هﺪﺷ . ﺖﯾﺎﻬﻧ رد ، ﻠﻤﻋ ﮑ يدﺎﻬﻨﺸﯿﭘ شور دﺮ ﻊﺟاﺮﻣ ﺎﺑ
ﯽﻓﺮﻌﻣ نآ يﺎﯾاﺰﻣ و هﺪﺷ ﻪﺴﯾﺎﻘﻣ ﻪﯾﺎﭘ ﻞﯿﺴﻧﺎﺘﭘ ناﺪﯿﻣ و ﻒﻠﺘﺨﻣ ﺖﺳا هﺪﺷ .
تاريخ ورود اطلاعات
1404/06/26
عنوان به انگليسي
Behavior-based Control of Wheeled Collaborative Robots Using Fuzzy System
تاريخ بهره برداري
1/1/1900 12:00:00 AM
دانشجوي وارد كننده اطلاعات
فاطمه برجي
چكيده به لاتين
In this paper, a basic behavior control is proposed for a group of cooperative
robots. Among the types of robots, wheeled ground robots have been selected.
These robots cooperate in parallel with each other and each has its own mission
to reach its goal. Due to the presence of various obstacles and other robots in the
environment, there is also a risk of collision; therefore, the mission is decomposed
into two basic behaviors of "reaching the goal" and "not colliding with the
obstacle". The potential field is used as the controller of each behavior, the input
of which is the system and environmental information received through sensors.
The innovation and focus of the paper is in the design of the behavior selection
module. In fact, at any moment, only one control command can be executed and
the module is responsible for decision-making. In this design, a fuzzy system has
been used as the behavior selection module. Then, the proposed algorithm has
been implemented in different scenarios and different conditions in the MATLAB
environment. Also, the stability and robustness of the proposed method against
changes in system parameters and noise are investigated. Finally, the performance
of the proposed method is compared with various references and the base
potential field and its advantages are introduced.
كليدواژه هاي فارسي
كنترل رفتارپايه , ميدان پتانسيل , ربات هاي همكار , سيستم فازي , انتخاب رفتار , اجتناب از مانع
كليدواژه هاي لاتين
Behavior-based control , potential field , collaborative robots , fuzzy system , behavior selection , obstacle avoidance
Author
Fatemeh Borji
SuperVisor
Dr. Mohammad Farrokhi