摘要
建立了履带式移动机器人的数学模型.模仿人工驾驶过程中的预瞄行为,提出了一种移动机器人路径跟踪的模糊控制方法.用距离误差和预瞄角度误差作为控制量建立角速度控制器,实现对匀速行驶移动机器人的路径跟踪控制.LabVIEW仿真结果表明,提出的模糊控制方法能够保证移动机器人快速、准确的沿规划路径行驶,具有良好的鲁棒性.
A model for tracked mobile robot is introduced. Base d on preview behavior of a human driver, an eftectlve fuzzy control method for mobile robot path tracking was proposed. Angular velocity controller was developed oriented by distance error and preview angle error to achieve the movement control for constant line velocity mobile robot. Computer simulation results show that the mobile robot controlled by the proposed method can follow planned path quickly, accurately and robustly.
出处
《河北工业大学学报》
CAS
北大核心
2009年第6期6-9,共4页
Journal of Hebei University of Technology
基金
国家"863"计划资助项目(2007AA04Z240)
