多传感器融合在移动机器人运动控制中的应用

Multi-sensor Fusion with Application to the Motion Control of Mobile Robot

本文提出一种基于 T-S模型的变结构模糊神经网络直接逆模型控制器 ,并将其应用于移动机器人的运动控制中。利用光电编码器进行自定位。同时 ,用扩展卡尔曼滤波器融合多个超声波传感器的测量值 ,并采用回朔算法 ,将融合值用于复位光电编码器 ,不仅消除了光电编码器累积误差的影响 ,并能满足实时控制的要求。仿真实验说明了该方法的有效性。

A direct inverse model controller of fuzzy neural network with changeable structure based on T S inference is presented in this paper and it is used to the motion control of mobile robot. The photoelectric coder is used to localize itself. At the same time, the Extended Kalman filter is employed to fuse the multi ultrasonic sensors, result of which is used to reset the photoelectric coder by the retroactive algorithm, which can not only eliminate the influence of the cumulative errors of the photoelectric coder, but also it can satisfy the requirement of the real time control. Simulation results show the validity of this method.