摘要
针对数学模型复杂的移动机器人的路径跟踪问题,使用模糊整定的比例微分控制算法.该控制方法参考模糊控制的思想,将位置和方向误差分成若干个模糊集合,使比例微分控制器参数能够根据机器人的状态进行调节.仿真结果表明,该方法在机器人的路径跟踪控制中效果良好.
As the mathematic model of the wheeled robot is very complicated, a fuzzy adjusting proportional differential (PD) control method is presented for its lane following. The position and orientation errors were divided into several fuzzy sets with the controller parameters adapting to different error situations. Simulation results show that the effectiveness of the wheeled robot controller is good.
出处
《北京交通大学学报》
CAS
CSCD
北大核心
2004年第5期80-83,共4页
JOURNAL OF BEIJING JIAOTONG UNIVERSITY
关键词
移动机器人
路径跟踪
模糊整定
比例微分控制
mobile robot
lane following
fuzzy adjusting
proportional differential control
