3自由度移动机器人的模糊跟踪控制器设计  

Design of Fuzzy Tracking Controller of Mobile Robots with 3 Degrees of Freedom

作　　者：李艳[1] 高峰[2] 林廷圻[1] 

机构地区：[1]西安交通大学机械工程学院,西安710049 [2]西安理工大学机械与精密仪器工程学院,西安710048

出　　处：《西安交通大学学报》2004年第5期521-524,共4页Journal of Xi'an Jiaotong University

摘　　要：在平面目标跟踪过程中,将移动机器人跟踪的目标期望位姿分解为4种位置和方位组合,在分析总结了具有2个可操舵驱动轮的3自由度移动机器人运动特性的基础上,根据自动驾驶控制的专家经验知识,针对4种位姿的要求设计了4个子模糊跟踪控制器,这样大大简化了模糊逻辑推理过程,并减少了计算时间,实现了位置和方位的独立跟踪控制,同时满足了跟踪目标的位姿要求.最后,利用仿真实验验证了算法的可行性和有效性.To track planar goal, the objective desire posture is divided into four compositions of position and orientation for the followed task of mobile robot. Based on the kinematic characteristics analysis of 3 degrees of freedom mobile robot with two drivable and steerable wheels and automatic driving experiences of experts, four sub-fuzzy tracking controllers are designed which realizes independent control of position between orientation of mobile robots to satisfy the desire posture requirements with the simplified fuzzy logic inference and shortened computing time simultaneously. The simulation experiments verify the feasibility and efficiency of the algorithm.

关 键 词：3自由度移动机器人 模糊逻辑跟踪控制器 目标跟踪 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]