基于模糊逻辑的移动机器人沿墙行为精准控制

Precision Control of Mobile Robot in Wall-following Behavior Based on Fuzzy Logic

针对移动机器人自身的非线性和环境噪声的不确定性,设计了一个基于红外传感器的模糊控制器,并在实验环境中采用多项式拟合方法对红外传感器进行了校正,得到了传感器的校正模型,提高了移动机器人在室内环境中沿墙导航的精度。基于KHEPERAⅡ移动机器人的实验结果表明,校正后的移动机器人在沿墙导航过程中具有更好的稳定性和鲁棒性,以及更高的效率。

In view of nonlinearity exist in mobile robot, as well as the uncertainty of environmental noise, a fuzzy controller based on infrared sensors is designed. In addition, the infrared sensors are calibrated with the method of Folynoinial fitting in the experimental environment and the calibration models are concluded. As a result, it improves the precision of wall-~llawin~ navigation of the mobile robot in the indoor envi- ronment. Experiments on KHEPERA II mobile robot show that the performance of the mobile robot calibrated in the wall-following navigation is more stable and robust, as well as more efficient than the mobile robot uncalibrated.