研究生: |
周冠廷 Kuan-ting Chou |
---|---|
論文名稱: |
加強預測型免疫演算法之機器人路徑規劃與系統應用 Prediction Enhanced Immune Algorithm for Robot Path Plan and System Realization |
指導教授: |
陳志明
Chih-Ming Chen |
口試委員: |
陳建中
Jiann-Jone Chen 王延年 Yen-Nien Wang |
學位類別: |
碩士 Master |
系所名稱: |
電資學院 - 電機工程系 Department of Electrical Engineering |
論文出版年: | 2011 |
畢業學年度: | 99 |
語文別: | 中文 |
論文頁數: | 67 |
中文關鍵詞: | 移動式機器人 、類免疫演算法 、路徑規劃 、期望值 |
外文關鍵詞: | mobile robots, immune algorithm, path planning, expected direction |
相關次數: | 點閱:296 下載:3 |
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免疫系統是一個生物體的自我保護系統,它利用辨識侵入身體的非自體物質以及
抗體的記憶及自生功能以採取必要的防衛與因應措施,這種特性使得免疫系統的理論
可以應用到移動式機器人,特別是在動態變化的環境中做出最佳的決策行為反應。本
論文將研究人工類免疫學的學者Ishiguro 所提出的理論配合期望方向與目標物位置預
測而提出了加強預測型免疫演算法,使得機器人在未知的環境中能夠適應環境與自我
學習進而做出行為反應。
最後經由MATLAB 電腦模擬與搭載Microchip 微控制器的移動式機器人硬體實
現,驗證本研究所提出的方法可以有效地完成移動式機器人避障與追蹤的任務。
Immune system is living body’s self-protection system. It takes the necessary
defense and response measures by identifying invasive bodies from non-self substances,
and by drawing from the past memories along with the regeneration of antibody. This
adaptive-memory feature enables the emulation of immune system be applied to the
optimal behavior decision making in dynamically changing environment, especially in the
mobile robots path planning. This thesis develops an prediction enhanced rule for
Ishiguro’s artificial immune algorithm by incorporating an estimation of the target position,
and responds accordingly in the aforementioned technique.
Computer simulation via MATLAB programming has proved the feasibility of this
new approach. Hardware implementation, via Microchip Chip equipped mobile robot,
further confirms that this new technique can be effectively applied in mobile robot obstacle
avoidance and tracking tasks.
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