摘要
从理论上分析了机器人控制系统和检测外部环境的传感器,并在该基础上阐述了航姿推算定位算法。利用Matlab GUI设计了移动机器人的控制仿真平台,并通过算法对超声波测距进行了模拟。最后,设计模糊控制器应用于该仿真平台对移动机器人进行实时控制。仿真结果表明,在非结构化的未知环境中,系统响应速度快,实现了机器人从起点到静态目标点的安全行驶。
Firstly, this paper analyses the system＇s structure, and disposes the sensor reasonably to apperceive the external environment.Next, this paper analyses kinematics model of the mobile robot and the localization algorithm dead reckoning, and designs the simulation platform of the mobile robot based on Matlab GUI. The system simulates the ultrasonic sensor using algorithm. Finally, the system designs fuzzy controller for this simulation platform to control the robot. The results of simulation indicate that the system has quick response speed, and can realize safe track from the beginning to the static target under the non-structural unknown environment.
出处
《微型机与应用》
2010年第16期69-71,74,共4页
Microcomputer & Its Applications
基金
湖南省教育厅科学研究项目(No.06C519)
关键词
移动机器人
仿真
模糊控制
mobile robot
simulation
fuzzy control
