移动机器人模糊控制方法研究  

Study on Fuzzy Control Method for Mobile Robots

作　　者：李庆中[1] 顾伟康[1] 叶秀清[1] 项志宇[1] 

机构地区：[1]浙江大学信息与电子工程学系,杭州310027

出　　处：《仪器仪表学报》2002年第5期480-483,503,共5页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(60105003);浙江省自然科学基金(600025);及浙江省综合信息网重点实验室资助项目。

摘　　要：移动机器人的智能控制技术是基于机器视觉的移动机器人与智能车辆自主导航的关键技术之一。首先介绍了移动机器人的基本硬件组成,然后模仿人工预瞄驾驶行为,提出了移动机器人运动控制的模糊控制方法,并详细介绍了该控制器的结构组成和设计过程。实验表明:提出的模糊控制方法可保证移动机器人快速、准确地沿各种参考路径行走,且具有良好的鲁棒性。该控制方法也可用于智能车辆的自动导航控制。Intelligent control method is a key technique for machine vision based mobile robot and autonomous land vehicle navigation. The hardware of the mobile robot was first described. Based on preview behavior of a human driver,an effective fuzzy control method for road following was developed. The operating principle,constitution and the implementation method of the fuzzy controller were also described. The test results show that the mobile robot controlled by the proposed approach can follow various reference paths quickly,accurately and robustly. This fuzzy control method can also be applied to intelligent vehicle guidance.

关 键 词：移动机器人 模糊控制 路径跟踪 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] TP27[自动化与计算机技术—控制科学与工程]