基于模糊控制的移动机器人FPGA实现  

Implementation of fuzzy control mobile robots based on FPAG

作　　者：包明[1] 张睿[1] 余成波[1] 

机构地区：[1]重庆工学院远程测试与控制技术研究所,重庆400050

出　　处：《电子技术应用》2008年第7期29-31,共3页Application of Electronic Technique

摘　　要：针对轮式移动机器人寻线行走的跟踪控制要求,提出一种通用的移动机器人行走模糊控制设计方法,并以FPGA为核心器件,通过硬件描述语言(VHDL)实现移动机器人模糊控制系统,充分发挥模糊控制及可编程逻辑器件的优点。实验表明,该移动机器人具有自动纠偏、寻线准确、高集成度和高可靠性的特点。Aiming at line-following tracing requirements of wheeled mobile robots, a general fuzzy control design method for mobile robots is proposed in this article. To fully utilize the advantages of fuzzy control and programmable logical device, the whole fuzzy control system of mobile robots is built on a kernel device FPGA with the VHDL. The demonstrations indicate that this kind of mobile robots, which is highly integrated and with high reliability, performs well on automatic rectifying deflection and accurate line-following ability.

关 键 词：模糊控制 机器人 FPGA VHDL 寻线 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273.4[自动化与计算机技术—控制科学与工程]