摘要
采用仿人工智能驾驶思维,提出基于视线导航的模糊控制方法,该方法利用视线导航原理实现提前控制,减小超调量,同时根据道路弯曲度设计速度、角速度模糊控制器,使移动机器人能够快速高效地完成路径跟踪任务,通过仿真试验证实了方法的有效性和可行性。
Adopting the thought of driving a car by artificial intelligence, this paper presents a fuzzy control method based on the line of sight （LOS） guidance. The overshoot could be minished by LOS principle. In addition, two fuzzy controllers for velocity and rotate velocity separately have been designed following the camber of road, by which the mobile robot can be controlled to achieve path following mission fleetly and effectively. Then the validity and feasibility of this method has been approved by simulation test.
出处
《工程建设与设计》
2007年第2期52-55,共4页
Construction & Design for Engineering
关键词
路径跟踪
视线导航
模糊控制器
自动驾驶
path following, line of sight guidances fuzzycontroller
automatic transmission
