摘要
近年来,室内移动机器人的研究和设计成为关注的焦点。我们采用单片机作为机器人的核心控制器,利用超声波传感器、碰撞传感器、步进电机及其控制芯片Ta8435联合制作开发了机器人实验平台。最后介绍了模糊控制、模糊神经网络,并利用模糊控制和模糊神经网络技术对室内机器人导航中的模糊控制避障和模糊神经网络路径跟踪作了MATLAB仿真研究,达到了预期的目的。
It has become a hot field to research and design the indoor autonomous mobile robot in the past few years. We discuses how to develop the mobile robot experiment platform, using the Cygnal F020 as the controller, the ultrasonic sensor, the collision sensor, and Stepping Motors as well as its drive chip. Consequently, the basic principles of fuzzy control and fuzzy neural networks based on which MATLAB simulation on robotic navigation, avoiding obstacle and path tracking is made. At last, the conclusion is reached.
出处
《微计算机信息》
北大核心
2006年第12Z期182-184,共3页
Control & Automation
基金
国家自师然科学基金项目(编号:70371004)
