基于预瞄模糊PID控制的嵌入式轮式机器人设计  

Preview Fuzzy PID Control System for an Embedded Wheeled Robot

作　　者：蔡耀仪[1] 

机构地区：[1]湖南师范大学工学院,长沙410083

出　　处：《计算机系统应用》2012年第9期48-52,共5页Computer Systems & Applications

基　　金：湖南省教育厅基金资助项目(11C0845);湖南师范大学青年基金(2110640)

摘　　要：采用ARM作为核心处理器件设计了一款自动寻迹的轮式机器人并完成寻迹实验.基于模仿人工驾驶思想将多点预瞄和模糊PID控制结合提出了多点预瞄模糊PID控制方法.经调试,轮式机器人能分别按照直线、虚线道路行走,并能完成自动寻找目标道路等行为.重点给出了控制器与硬件电路图设计.实验表明,机器人完全能满足性能要求,为新型轮式移动机器人的设计提供了方案.The design of a wheeled robot with automatically tracing process based on ARM for core device is introduced. This article proposes a multiple-point preview fuzzy PID control algorithm which is based on imitating artificial driving. By debugging, the wheeled robot can track the straight lines and the dotted lines. And the wheeled robot can automatic search for roads. The design of the controller and the main hardware circuit diagram are given. Experimental results show that the robot can meet performance requirements and provide programme for the design of the new kind of wheeled robot.

关 键 词：轮式机器人 轨迹跟踪 多点预瞄 模糊控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]