摘要
本文的主要研究内容是模糊逻辑在移动机器人已知全局路径的情况下通过对局部路径的分析进行轨迹跟踪运动中的应用。利用模糊逻辑在移动机器人运动控制中的优越性,结合驾驶员的丰富经验设计了移动机器人的模糊控制器,包括一个预瞄距离确定器和一个运动模糊控制器。设计出移动机器人运动控制进行仿真的方法及程序流程,对其进行计算机仿真验证控制效果,对仿真结果进行了分析比较,得出模糊控制器达到设计要求,控制效果良好的结论。
The main content of this paper is Application of fuzzy logic,Under the condition of known global path through the analysis of local path trajectory tracking movement 。By using the fuzzy logic in mobile robot motion control,combined with the driver superiorities of rich experience in design of the fuzzy controller for mobile robot,including a pre aima distance is determined and a sports fuzzy controller.Design the mobile robot motion control simulation method and program flow,and carry on the computer simulations,the control effect of the simulation results are analyzed and compared,it is concluded that the fuzzy controller to meet the design requirements,the control effect is good conclusions.
出处
《电子测试》
2011年第9期33-38,共6页
Electronic Test
关键词
仿真
机器人
路径跟踪
simulation
robot
path-following
