摘要
为准确反映移动机器人的实际运动情况,鉴于路径跟踪控制中可能出现的三类偏差,设计了两个模糊控制器,用以纠正移动机器人行走路径的偏差。MATLAB仿真结果表明:加入模糊控制器的系统,运动轨迹相对平缓、波动较小、收敛速度快。其动态和稳态输出特性均较好。该模糊控制器能够提高系统的控制精度,取得比较理想的控制效果。
For the sake of reflecting the actual movement of wheeled mobile robots accurately, two fuzzy controllers were designed to correct the deviations of robot＇s mobile path by analyzing the three kinds of deviations possibly appearing in the control of the path tracing of wheeled mobile robots. The two systems with fuzzy controller and without fuzzy controller were analyzed and compared by MATLAB simulation, MATLAB simulation results showed that the track of the mobile robot with fuzzy control system was smooth and had less fluctuation and converged on the expected track more quickly. The characteristic of its static and dynamic output are better.
出处
《黑龙江科技学院学报》
CAS
2008年第6期430-433,共4页
Journal of Heilongjiang Institute of Science and Technology
关键词
轮式移动机器人
模糊控制
仿真
wheeled mobile robots
fuzzy control
simulation
