一种新的移动机器人路径跟踪控制策略

A New Control Strategy for Mobile Robot's Road Following

在分析传统三种路径跟踪方式跟踪误差较大、运动不稳定等不足的基础上，首次提出了一种基于神经网络和模糊控制技术的移动机器人路径跟踪新方法．该方法利用神经网络技术对其所跟踪路径进行实时识别进而进行跟踪，当误差较大时，利用两个模糊子控制器迅速纠偏，从而避免了移动机器人在路径跟踪中的运动不稳定现象，改善了控制算法的实时性，提高了移动机器人的路径跟踪精度．

By analyzing mobile robot classical road following approaches which have some disadvantages of relatively big road following deviations and unstable motion, a new method of neural network and fuzzy logic control based mobile robot's road following is presented for the first time. In this approach, the road followed by mobile robot can be identified real-time by using neural network. The following deviations can be corrected quickly based on two subfuzzy controllers when the deviations are bigger. And so mobile robot' unstable motion in road following can be avoided and the real-line control of this algorithm be improved as. well as the road fllowing precision for mobile robot be improved to a great extent by using this approach.