自主轮式机器人THMR－V的混合模糊逻辑控制

轮式机器人的控制问题是控制研究的关键问题之一，对高速自主导航的轮式机器人，控制器的实时性、精确性和鲁棒性要求很高．在本文中，根据PID控制和模糊逻辑控制的各自优点，将传统的PID控制与模糊逻辑控制结合起来，提出了一种混合模糊逻辑控制算法. 经实验检验，该算法具有很高的实时性、控制精度和鲁棒性，能够满足机器人高速自主导航的需要．

HYBRID FUZZY LOGIC CONTROL FOR AUTONOMOUS WHEELED ROBOT-THMR-V

Controller design is one of the key techniques for wheeled robot. For high speed autonomous vision navigation robot, the controller should have good robustness,high control precision and rigid time limitation In this paper, we propose a hybrid fuzzy logic control algorithm by combining the conventional PID algorithm and fuzzy logic algorithm. The algorithm has been verified by experiments, and the results show that it has good real time performance, robustness and high control precision, and can meet the needs for high speed autonomous wheeled robot based on vision navigation.