摘要
本文针对实际的轮式自主移动机器人轨迹控制和定位问题提出了一种解决方法。利用模糊PID复合控制器实现移动机器人的轨迹控制 ,利用陀螺、磁罗盘、里程计进行多传感器融合定位。在计算机仿真和实际的轮式移动机器人的轨迹控制、定位实验中 ,与使用PID控制器的方法进行了比较 ,结果表明了多传感器融合、模糊PID在解决轨迹控制和定位问题上的优越性。
Trajectory control and location method of a practical wheeled autonomous mobile robot system is presented and discussed in this paper. To solve the problem, this paper presents an integrated method. Fuzzy PID Controller is used for trajectory control. Multisensor data fusion algorithm uses the data which is from gyro, electronic compass and odometer to solve robot location problem. The experiment result show the advantage of multisensor data fusion and fuzzy PID control over the pure PID control. [
出处
《机器人技术与应用》
2002年第5期30-33,共4页
Robot Technique and Application
