移动机器人路径追踪的模糊控制方法研究

Study on Mobile Robot Fuzzy Control Method for Intelligent Path Following

移动机器人的智能控制技术是基于机器视觉的移动机器人自主导航的关键技术之一。本文模仿人工智能驾驶行为,提出了移动机器人运动控制的模糊控制方法,并介绍了该控制器的结构组成和设计过程。提出的模糊控制方法可以保证机器人准确高效的完成路径跟踪任务,并且具有良好的鲁棒性。仿真试验证实了该方法的有效性和可行性。

Intelligent control method is a key technique for machine for machine vision based mobile robot. This paper based on behavior of a human driver,an effective fuzzy control method for road following was developed. The operating principle,constitution and the implementation method of the fuzzy controller were also developed. The mobile robot can be controlled to achieve path following misson accuracy ,effectively and robustly. Then the validity and feasibility of this method has been approved by simulation test.