摘要
移动机器人的自主导航是当前机器人控制的研究热点,将GPS/MEMS传感器信号进行融合实现移动机器人的航迹规划与跟踪,最终实现移动机器人自主导航。首先,针对Sage_Husa自适应滤波算法进行改进以有效抑制滤波发散,改善其动态性能和稳定性,提高GPS导航精度。其次,控制器采用模糊PID对控制策略实时改变,以保证控制系统性能指标在最佳范围内,实现控制的稳定性。将改进的Sage_Husa滤波算法与模糊PID应用于移动机器人的自主导航控制。最后,通过仿真和试验,结果表明新建立的方法可行与有效。
How to realize the autonomous navigation of mobile robot is the research focus of the robot control, GPS/MEMS sensor signals are combined to realize the path planning and tracking of mobile robot, finally to realize the autonomous navigation. Firstly, the filtering algorithm adopts the improved self-adaptive filtering method, to restrain filtering divergence. It improves the dynamic performance of the filter, strengthens the stability, and improves the precision of GPS navigation. Then, the controller adopts the fuzzy PID to change the control strategy in real time, to ensure the control system performance index within the best scope and to achieve the control stability. Combination of the improved self-adaptive filtering method and the fuzzy PID is applied to autonomous navigation of mobile robot control. Finally, simulation and test results show that the new method is feasible and effective.
出处
《控制工程》
CSCD
北大核心
2015年第5期953-957,共5页
Control Engineering of China
基金
湖南省教育厅科学研究项目(13C260)
湖南省高校2011协同创新中心"风电装备与电能变换"
