摘要
探讨视觉空间下非完整移动机器人的跟踪问题。在不校准摄像机视觉参数的前提下,提出一种利用视觉反馈信息设计非完整移动机器人轨迹跟踪的模糊控制方法。其模糊控制使用Mamdani推理机,包含if-then规则和重心法,对线速度和角速度进行控制。仿真结果证明了该方法的有效性。
This paper investigates the visual servoing tracking problem of nonholonomic mobile robots. The fuzzy logic control approach is exploited to design a tracking controller for nonholonomic mobile robots with uncalibrated visual parameters. Its fuzzy logic control part is built by using Mamdani inference system including if-then rules and the centroid of area method as its deffuzification strategy. The outputs of the system are linear velocities and aneular velocities, The effectiveness of the method is illustrated in the simulation study.
出处
《计算机工程》
CAS
CSCD
北大核心
2011年第14期175-177,共3页
Computer Engineering
基金
国家自然科学基金资助项目(60874002)
上海市教委重点科技创新基金资助项目(09ZZ158)
上海市重点学科基金资助项目(S30501)
上海市研究生创新基金资助项目(JWCXSL1002)
