小口径トンネルロボットのファジィ方向制御法 : シミュレーションによる検討

概要

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This paper describes a fuzzy directional control method for directional correction of a small-diameter tunnelling robot which constructs conduits of telecomunication cables. The directional control of a tunnelling robot conventionally depends on both the experience and intuition of the operator, and there have been no studies with regard to its automation. Therefore, in order to establish automatic control technology for a small-diameter tunnelling robot we proposed the fuzzy directional control method which can utilize both the expeience and knowledge of operators as a control rule. This fuzzy control uses a fuzzy rule set for [deviation, angular deviation] and [head angle (control input)]. We obtained an optimum fuzzy rule and optimum fuzzy set of values by using a dynamic simulator. Moreover, we obtained a fuzzy control method which can be applied to change the initial position of the robot. Simulation results clarified the validity of the proposed fuzzy control methods.
社団法人日本機械学会の論文
1992-10-25