基于多传感器信息的自主式机器人模糊控制

Fuzzy control of autonomous mobile robot based on multi-sensor data

通过对自主式机器人(AMR)运动学特性的研究,结合人工驾驶的知识经验和自主式机器人的角速度-线速度函数模型,设计了基于多传感器信息的机器人模糊控制系统。利用单输出模糊控制器实现对AMR的运动控制,便于单片机系统的实现,有助于提高控制系统的实时性。实验结果表明了所提出方法的有效性。

According to the kinematical characteristic of Autonomous Mobile Robot (AMR), manual navigation experience and the AMR's angular velocity-line velocity functional model, a fuzzy control system for robot based on multi-sensor data was presented. The single output FLC was convenient for MCU system and was helpful to enhancing the real-time characteristic of the fuzzy control system. The results of experiments indicated the efficiency of method.