自主移动机器人巡线控制系统设计与实现

Design and implementation 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,主要完成了机器人控制系统的设计。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;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,仿真结果证明:该控制系统不仅克服了传统巡线控制中单一传感器采集信息不全的缺点,而且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 deficiencies the traditional line-tracking control of autonomous mobile robot,the paper designed mainly the control system of autonomous mobile robot.the gray-scale sensors collect ground tracking information,while angle-sensor is added into collect angle information of traveling direction,proposed a composite controller based on PID and fuzzy control,and the algorithm of composite controller is given.An experimental system is established on this basis,the simulation,results show that the shortcoming is overcomed on gathering incomplete information by the single-sensor of the traditional line-tracking control,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.