基于视觉数据的移动机器人导航模糊控制

Fuzzy Control of Mobile Robot Based on Visual Data

针对非完整移动机器人传统控制算法时间复杂度高,实时性、鲁棒性弱,在非线性复杂系统中难以建模的问题,提出一种基于模糊算法的移动机器人控制方法.该方法在对移动机器人进行建模和实验分析的基础上,通过摄像头反馈模块获取视觉数据并计算输入偏差,通过模糊算法建立模糊控制关系,实现了非完整移动机器人点镇定控制和路径跟随控制的融合.经实验误差数据分析,控制方法具有较好的鲁棒性及实时性,系统具有较好的精度.

There are some flaws existing in traditional algorithm of nonholonomic mobile robot,such as large time complexity, weakness in robustness and real-time performance, difficult to modeling prob- lem in the complicated nonlinear system. In consider of these problems, this research puts forward a kind of mobile car control system based on fuzzy algorithm. The system is based on the robot modeling and experimental analysis, by inputting virtual data and calculating deviation, established fuzzy control relation using fuzzy algorithm,implement a real-time adjustment of point stabilization and path track- ing control. Analysis of experiment data proves that the method has great robustness and real-time and system has high precision.