基于运动趋势分析型论域自调整模糊控制算法的移动机器人运动控制*

作者：胡琳萍1，2,吴怀宇1，2,赵伟3,程磊1,2 日期：2008-08-14/span> 浏览：3274 查看PDF文档

基于运动趋势分析型论域自调整模糊控制算法的移动机器人运动控制*

胡琳萍1，2,吴怀宇1，2,赵伟3,程磊1,2
(1.武汉科技大学 冶金自动化与检测技术教育部工程研究中心，湖北 武汉 430081;
2.武汉科技大学 信息科学与工程学院，湖北 武汉 430081; 3.上海英集斯自动化技术有限公司，上海 200233)

摘要：针对非完整约束轮式移动机器人的运动控制问题，综合考虑移动机器人运动控制精确性、实时性和自适应性的要求，提出了一种运动趋势分析型论域自调整的模糊控制算法。该算法以位置偏差和速度偏差为输入，以PWM波形的占空比为输出，通过实时地改变输入/输出论域，提高了控制精度；引入对运动趋势的分析，实时地改变模糊规则，提高了算法的自适应性。仿真及实验结果表明，该算法具有简单、有效的特点，能基本满足移动机器人运动控制的要求。
关键词：移动机器人；运动趋势分析；论域自调整；模糊控制；运动控制
中图分类号：TP242.6;TP273+.4文献标识码：A文章编号：1001-4551(2008)07-0004-04

Motion control of mbile robots based on the fuzzy control algorithm with
motion trend analysis in self-adjusting universe
HU Lin-ping1,2, WU Huai-yu1,2, ZHAO Wei3, CHENG Lei1,2
(1.The MOE Engineering Research Center of Metallurgical Automation and Detecting Technology, Wuhan University of Science and
Technology, Wuhan 430081, China; 2.College of Information Science and Technology, Wuhan University of Science and Technology,
 Wuhan 430081, China; 3.Shanghai Ingenious Automation Technology Co., Ltd., Shanghai 200233, China)
Abstract: In view of the motion control problem in nonholonomic wheeled mobile robots, the requirements of accuracy, timeliness and auto-adapted request of the robot motion control system were considered comprehensively, and a newly fuzzy control algorithm with self-adjusting universe based on the motion trend analysis was proposed. The position deviation and velocity deviation were input, while the duty ration of PWM wave was output. The accuracy property was enhanced by real timely changing the universe of the input and output. The motion trend of robots was analyzed, and the auto-adapted property was improved by real timely changing the fuzzy rules. Simulation and experiments results indicate that the method has some advantages of both easily and effectively in meeting the requirements of the robot motion control system.
Key words: mobile robots; motion trend analysis; self-adjusting universe; fuzzy control; motion control
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