基于模糊逻辑的六轮月球车路径跟踪控制

Path following control for six-wheel lunar rover based on fuzzy logic

以六轮差速转向月球车样机JLUIV-6为研究对象,推导了三维环境下月球车速度运动学模型,进而得出逆运动学模型。在路径跟踪阶层,根据横向偏差和角度偏差设计了车体的偏航角速度模糊控制器,并基于路径曲率和地形崎岖程度,引入模糊修正模块来控制车体的期望速度。在执行阶层,根据控制器输出的车体期望速度和角速度,用逆运动学模型给定车轮相应的转速指令,使其跟踪车体的期望速度和角速度。最后通过ADAMS/Simulink联合仿真验证了所提方法的有效性。

A six-wheel differentially steering lunar rover prototype named JLUIV-6 was taken as the research object,deduced velocity kinematics model of the lunar rover in 3-D environment,and then obtained its inverse kinematics model.In the path following level,considering the path curvature and the degree of rugged terrain,the fuzzy controller and a fuzzy amendment module were established to control the linear velocity and angular velocity of rover body.In the implementation level,according to the speed and angular velocity of rover body,the speed command was given to each wheel with the inverse kinematics.Finally,the effectiveness of the proposed method is confirmed by co-simulation with ADAMS and Matlab/Simulink.