自主移动机器人巡线控制研究

Research on Line-Tracking Control of Autonomous Mobile Robot

针对自主移动机器人传统巡线控制中存在的不足,在使用灰度传感器采集地面轨迹信息的同时,引入角度传感器对行进方向的角度信息进行采集,由此克服了传统巡线控制中单一传感器采集信息不全的缺点;设计了PID控制加模糊控制的复合控制器,并给出复合控制器算法。在此基础上建立实验系统,通过对其进行仿真,结果证明该控制策略不仅适于自主移动机器人巡线控制系统,而且此控制策略有效解决了机器人在遇到大信号时传统PID控制响应时间长、系统不稳定的问题。

Aimed at the deficiencies of the traditional line-tracking control of autonomous mobile robot,when the gray-scale sensors collect ground tracking information,angle-sensor is introduced into collect angle information of traveling direction,then the shortcoming is overcomed on gathering incomplete information by the single-sensor of the traditional line-tracking control.A composite controller based on PID and fuzzy control is proposed,and the algorithm of composite controller is given.On this basis,a experimental system is established and simulation,the results show that the control strategy is more suitable for the line-tracking control system of autonomous mobile robot,and effectively improved the disadvantages by PID controlling when the robot is in the face of large-signal.,for example,a long response time and the instability system.