非完整约束移动机器人论域自调整模糊控制研究  

Research on nonholonomic mobile robot based on self-adjusting universe fuzzy control

作　　者：鞠升辉 李杨民[2] 

机构地区：[1]天津理工大学机械工程学院天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]澳门大学科学与技术学院,澳门999078

出　　处：《电子设计工程》2016年第5期103-106,共4页Electronic Design Engineering

摘　　要：针对非完整约束移动机器人的未知环境避障控制问题,提出了一种可变论域模糊控制算法。利用伸缩因子动态更新模糊控制输出变量的论域,实现了论域随系统的要求进行自适应伸缩变换,同时依据速度大小调整模糊规则,有效地解决机器人系统模糊控制规则的数量大小与控制的精度高低之间的矛盾问题。MATLAB仿真实验结果表明,变论域自调整模糊控制方法不但继承了模糊控制的优良特性,而且能适应于常规模糊控制失效的环境,从而使非完整约束移动机器人具有较强的对环境的适应性。To address the issue of bypassing the barriers in unknown environment for the nonholonomic mobile robot. A novel Fuzzy control algorithm based on the thought of self-adjusting universe was proposed. The so called universe stretching factor was utilized to update dynamically the input variables of fuzzy control. In addition, the rules are adjusted according to speed. The algorithm makes it possible for the universe to change according to the control request, therefore the contradiction between fuzzy control rules and the precision can be effectively dealt with. The simulation in MATLAB denotes that self-adjusting universe fuzzy control not only inherits the excellent characteristics of fuzzy control, but also can adapt to the situation where conventional fuzzy control failed. Thus nonholonomic mobile robot has strong adaptability to the environment.

关 键 词：非完整约束机器人 模糊控制 论域自调整 避障 

分 类 号：TN99[电子电信—信号与信息处理]