| 3自由度移动机器人的模糊逻辑控制方法研究 |
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| 引用本文： | 高峰. 3自由度移动机器人的模糊逻辑控制方法研究[J]. 机床与液压, 2004, 0(7): 90-92 |
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| 作者姓名： | 高峰 |
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| 作者单位： | 西安理工大学机仪学院,西安,710048 |
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| 摘 要： | 3自由度移动机器人可以实现平面上的自由运动，具有很高的灵活性和机动性。针对具有两个可操舵驱动轮的3自由度移动机器人的轨迹跟踪问题，利用模糊控制技术设计了路径跟踪控制器，实现了移动机器人的位置和方位的独立跟踪，同时提高了跟踪控制的实时性。最后通过仿真验证了算法的可行性和有效性。
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| 关 键 词： | 3自由度移动机器人 模糊逻辑控制 轨迹跟踪 |
| 文章编号： | 1001-3881(2004)7-090-3 |
| 修稿时间： | 2003-06-18 |
Study on Fuzzy Logic Control Method of 3 -DOF Mobile Robot |
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| GAO Feng. Study on Fuzzy Logic Control Method of 3 -DOF Mobile Robot[J]. Machine Tool & Hydraulics, 2004, 0(7): 90-92 |
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| Authors: | GAO Feng |
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| Abstract: | Since 3-DOF mobile robot can run on the planar surface freely, it possesses high flexibility and maneuverability. In order to solve the problem of path tracking for 3-DOF mobile robot with two drivable and steerable wheels, The path-tracking control algorithm is investigated via fuzzy control technique which realizesd independent tracking of position between orientation of mobile robot and enhances the real-time characteristics of tracking control. Finally simulation was given to verify the feasibility and efficiency of the algorithm. |
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| Keywords: | DOF mobile robot Fuzzy logic control Trajectory tracking |
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