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P DNG LOGIC M TRONG BI TON TRNH VT CN

CHO ROBOT T HNH BM MC TIU DI NG
Fuzzy Logic Application in Obstacle Avoidance Problem
for Mobile Robot Tracking the Moving Target
Tran Vn Tng
*
- L Hoi Quoc
**
* B mn Co so Thit k my, ** B mn K thut Diu khin tu dng
Khoa Co Kh Truong Dai Hoc Bch Khoa Dai Hoc Quc Gia HCM
Tm tt
Bi bo gioi thiu nhung kt qua ban du trong vic nghin cuu giai thut v phn mm
diu khin logic mo p dung trn m hnh robot tu hnh voi hai bnh chu dng pha truoc v
duoc trang bi camera d nhn dang v bm muc tiu di dng, cc cam bin siu m v hng
ngoai d nhn bit v trnh cc vt can ngu nhin xut hin trn duong di chuyn cua robot.
Abstract
This paper introduces the initial achievements in performing the controller using fuzzy
logic applied in the mobile robot equiping two front wheels steering, camera for
indentification of the mobile target knowing in advance, sonar and infra-red sensors for
avoidance of random obstacles.
1. Gii thiu bi ton v m hnh nghin cu
D c th tu hnh, robot phai c kha nng nhn bit duoc diu kin dia hnh v kha nng
tu dinh huong d di dn muc tiu. Dia hnh robot di chuyn c th d bit truoc hoc hon
ton chua bit. Dng thoi dia hnh c th thay di da dang nhu: b mt di chuyn khng
bng phng, c vt can c dinh hoc xut hin ngu nhin trn duong di, su thay di cua h
s ma st
Trong bi bo ny, chng ti d nghi mt giai thut v phn mm diu khin robot trnh
vt can bng phuong php diu khin mo voi du liu thu nhn duoc tu cam bin siu m v
hng ngoai. Vic bm muc tiu di dng cho truoc duoc thuc hin nho digital camera lp trn
h pan-til hai truc dn dng v diu khin boi hai dng co buoc.
Mt s gia thit ban du dt ra cho bi ton:
- Dia hnh hoat dng tuong di bng phng.
- Vt can c th c dinh hoc xut hin ngu nhin
2
9 8 7 6
5
4
3
2
1
- Muc tiu di dng voi voi vn tc nho v c th bi che khut tam thoi boi cc vt
can.
- Khoang cch giua cc vt can 1m
M hnh nghin cu
D m phong kt qua nghin cuu, chng ti d ch tao mt m hnh robot tu hnh voi hai
bnh dn dng dc lp bng cc dng co AC servo duoc b tr pha truoc, mt bnh ty dng
pha sau voi kch thuoc bao 500mm x 700mm duoc m ta
nhu trn hnh 1 duoi dy.
1. Cc bo thu pht hong ngoai
2. Motor quay cam bin siu m trong mt phng
nm ngang
3. Cam bin siu m
4. Motor quay camera trong mt phng nm ngang
5. Camera bm muc tiu cho truoc
6. Bnh tu lua pha sau
7. Hai bnh chu dong pha truoc
8. Motor AC servo
9. Cc bo truyn dai quay camera v cam bin siu
m trong mt phng thng dung
B phn cam nhn trn robot bao gm:
1. 01 camera k thut s JVC duoc dt trn khung hai bc tu do d bm theo muc
tiu di dng cho truoc.
2. 01 cam bin siu m E4PALS400M1 voi tm pht hin tu 0,5m 4m cung duoc
dt trn khung mt bc tu do d nhn bit vt can o khoang cch xa.
3. 05 b thu pht hng ngoai BX700 voi tm pht hin 0,7 m duoc b tr pha truoc
d nhn bit vt can o khoang cch gn v gip trnh va cham trong qu trnh di
dng cua robot.
2. NG DNG LOGIC M TRONG BI TON TRNH VT CN
Cam bin siu m s thuc hin nhim vu pht hin vt can tu xa. Du liu thu nhn duoc
tu cam bin ny c th cho bit duoc kch thuoc cua vt can, gc cua vt can so voi vecto
phuong chnh cua robot ... Cc du liu ny s l bin du vo cho b diu khin mo. Ngoi
ra, robot phai nhn dang v bm theo muc tiu cho truoc nho camera, nn gc quay cua
Hnh 1: So do bo tr thit bi trn m hnh robot
tu hnh