| 移动机器人智能路径跟踪控制方法研究 |
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| 引用本文： | 葛雪雁,童艳,徐宁. 移动机器人智能路径跟踪控制方法研究[J]. 工程建设与设计, 2007, 0(2): 52-55 |
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| 作者姓名： | 葛雪雁 童艳 徐宁 |
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| 作者单位： | 91550部队装备部,辽宁,大连,116023;91550部队指控中心,辽宁,大连,116023 |
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| 摘 要： | 采用仿人工智能驾驶思维,提出基于视线导航的模糊控制方法,该方法利用视线导航原理实现提前控制,减小超调量,同时根据道路弯曲度设计速度、角速度模糊控制器,使移动机器人能够快速高效地完成路径跟踪任务,通过仿真试验证实了方法的有效性和可行性.
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| 关 键 词： | 路径跟踪 视线导航 模糊控制器 自动驾驶 |
| 文章编号： | 1007-9467（2007）02-0052-04 |
| 收稿时间： | 2007-01-17 |
| 修稿时间： | 2007-01-17 |
Intelligent Path Following Control for Mobile Robot |
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| GE Xue-yan,TONG Yan,XU Ning. Intelligent Path Following Control for Mobile Robot[J]. Construction & Design for Project, 2007, 0(2): 52-55 |
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| Authors: | GE Xue-yan TONG Yan XU Ning |
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| Affiliation: | 1 a.No.91550 army weaponrydepartment;l b.Center of command and control, Dalian 116023,China |
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| Abstract: | Adopting the thought of driving a car by artificial intelligence,this paper presents a fuzzy control method based on the line of sight(LOS) guidance.The overshoot could be minished by LOS principle.In addition,two fuzzy controllers for velocity and rotate velocity separately have been designed following the camber of road,by which the mobile robot can be controlled to achieve path following mission fleetly and effectively.Then the validity and feasibility of this method has been approved by simulation test. |
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| Keywords: | path following line of sight guidance fuzzy controller automatic transmission |
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