基于运动趋势分析型论域自调整模糊控制算法的移动机器人运动控制  

Motion control of mbile robots based on the fuzzy control algorithm with motion trend analysis in self-adjusting universe

作　　者：胡琳萍[1] 吴怀宇[1] 赵伟 程磊[1] 

机构地区：[1]武汉科技大学冶金自动化与检测技术教育部工程研究中心 [2]上海英集斯自动化技术有限公司,上海200233

出　　处：《机电工程》2008年第7期4-7,共4页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(50675161,60705035);湖北省国际科技合作重点研究资助项目(2006CA025);湖北省教育厅重大研究资助项目(Z200511001)

摘　　要：针对非完整约束轮式移动机器人的运动控制问题,综合考虑移动机器人运动控制精确性、实时性和自适应性的要求,提出了一种运动趋势分析型论域自调整的模糊控制算法。该算法以位置偏差和速度偏差为输入,以PWM波形的占空比为输出,通过实时地改变输入/输出论域,提高了控制精度;引入对运动趋势的分析,实时地改变模糊规则,提高了算法的自适应性。仿真及实验结果表明,该算法具有简单、有效的特点,能基本满足移动机器人运动控制的要求。In view of the motion control problem in nonholonomic wheeled mobile robots, the requirements of accuracy, timeliness and auto-adapted request of the robot motion control system were considered comprehensively, and a newly fuzzy control algorithm with self-adjusting universe based on the motion trend analysis was proposed. The position deviation and velocity deviation were in-put, while the duty ration of PWM wave was output. The accuracy property was enhanced by real timely changing the universe of the input and output. The motion trend of robots was analyzed, and the auto-adapted property was improved by real timely changing the fuzzy rules. Simulation and experiments results indicate that the lnethod has some advantages of both easily and effectively in meeting the requirements of the robot motion control system.

关 键 词：移动机器人 运动趋势分析 论域自调整 模糊控制 运动控制 

分 类 号：TP242.6[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]