摘要
本文提出了一种基于模糊控制的对含不确定性的移动机器人的非标定视觉伺服路径规划控制方法。本方案将摄像机固定于移动机器人工作区域内,运用摄像机针孔模型设计了一种新的非标定机器人视觉伺服路径跟踪系统,在此系统下运用模糊控制理论设计了模糊控制器,在视觉伺服系统参数未标定的前提下完成了对含不确定性参数的移动机器人视觉伺服路径规划。仿真实验证实控制效果良好。
Based on the fuzzy logic,this paper puts forward a way by which we can plan and control the non-calibrated visual servo path of the mobile robot which has the uncertainty.According to the plan,this method fixes the camera in the mobile robot＇ s working area.With the pinhole camera model,this method designes a new system which can track the uncalibrated robot visual servo path.This system also designes a fuzzy controller by taking advantage of the fuzzy control theory.Thus in the premise that the visual servo system parameters are not calibrated,this method succeeds in planning the visual servo path of the mobile robot which has uncertainty parameters.Furthermore,the simulation shows that the new way and the new system work well.
出处
《仪器仪表用户》
2012年第6期22-24,共3页
Instrumentation
