摘要
研究机器人路径规划问题,在移动机器人上配置超声波传感器,对返回的距离值进行信息融合,并将环境分为有障和无障两种模式。针对无障模式下模糊控制的路径振荡问题,为了克服振荡和减小超调,提出了有障模式下的模糊控制和无障模式下的模糊自适应PID控制方案。利用MATLAB建立了GUI移动机器人仿真平台。仿真结果表明,在非结构化未知环境下,可使系统响应速度加快,解决了振荡和超调问题,更好地实现从起点到静态目标点的路径规划任务,可为设计提供可靠依据。
Disposing the ultrasonic sensor on the mobile robot and fusing the information from the measured value,the system divides the environments into two types：the obstacle mode and the non-obstacle mode.In view of the oscillation problem under the non-obstacle mode based on the fuzzy control,this paper proposes that the fuzzy control is used for the obstacle mode and the fuzzy adaptive PID control is used for the non-obstacle mode,and establishes the simulation platform based on the MATLAB GUI.The simulation results indicate that the system has quick response speed and strong self-adaptive ability,and can realize safe track from the beginning to the static target point under the non-structural unknown environment.
出处
《计算机仿真》
CSCD
北大核心
2011年第4期167-171,共5页
Computer Simulation
基金
湖南省教育厅科学研究项目(06C519)
