基于智能结构模型的机器人轨迹跟踪控制研究

Tracking control of mobile robot based on intelligent structure model

针对动力学模型描述非完整移动机器人轨迹跟踪问题,从智能特征建模和传统控制理论相结合的思想出发,提出一种两层三段的智能结构控制模型,将主要研究目标从跟踪控制的数学模型转变为运动特征模型中定性与定量结合的知识模型.系统分为决策、执行两个层次,采用有限状态机进行层次间任务转换,建立基于仿人经验的模糊PID算法进行在线的控制参数调整.满足了复杂多任务的移动机器人轨迹跟踪要求,同时实验表明该方法的有效性.

An intelligent control model structure of two-level-three-stage is presented on the basis of fea- ture modeling and the theories of traditional controls. It is applied in the trajectory tracking system of mobile robot, which can be decomposed into two levels： decision and evaluation.The transferring man- ners based on finite-state-machine is defined in decision level, fuzzy PID based on prior knowledge is a- dopted in execution level.The focus emphasis of the research is transferred from the mathematic model of the object to the knowledge model that combines the qualitative judgment with quantitative calculate according to the characteristic of the moving object. The problem of complex tasks and diversiform trajectory can be solved through the model. The results of simulation and experiments showed that the structure is efficienct.