摘要
针对移动机器人寻线控制的传统寻线控制系统使机器人在导引线上摇摆前进的问题,引入模糊控制的思想,并在此基础上设计一种新型基于多传感器信息融合的寻线控制系统,并根据反模糊化结果和实验修正给出核心程序,实际运行显示此改进设计很大程度改变机器人寻线中的摇摆现象,实现平稳的寻线控制。此设计思想对各种条件下的移动机器人寻线控制具有一定参考价值。
Aiming at the line-tracking control of mobile robot, the traditional line-tracking control system made the mobile robot swing in the forward line guidance.For this problem, the paper introduces the idea of fuzzy control, designs a new linetracking control system based on multi-sensor information fusion based on the theory of fuzzy control, and gives the key proeedures according to the results and the revise of test.The experiment shows that this method changes the swing phenomenon of line-tracking of the mobile robot over to smooth line-tracking control, this design may influence the mobile robot line-tracking robot control in any condition.
出处
《电子设计工程》
2009年第11期32-33,36,共3页
Electronic Design Engineering
关键词
机器人
模糊控制
寻线
传感器
信息融合
robot
fuzzy control
line-tracking
sensor
information fusion
