| 一种应用于移动机器人的路径跟踪控制方法 |
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| 引用本文： | 童艳,徐德民,石巨峰.一种应用于移动机器人的路径跟踪控制方法[J].火力与指挥控制,2008,33(12). |
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| 作者姓名： | 童艳 徐德民 石巨峰 |
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| 作者单位： | 1. 91550部队指控中心,辽宁,大连,116023
2. 西北工业大学航海学院,陕西,西安,710072 |
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| 摘 要： | 针对移动机器人的路径跟踪复杂性问题,设计了一种易于实现的控制系统,其中的跟踪策略改进了传统的视线导航算法,使机器人光滑趋近到期望路径,控制器的设计采用基于模糊逻辑的变速度控制和角速度滑模控制,减小了角速度的抖振,并使控制具有一定的智能化特点.实验结果表明,设计的控制系统即可以保证路径跟踪的精度,同时避免了运动控制的不稳定性.
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| 关 键 词： | 移动机器人 路径跟踪 视线导航 模糊逻辑 滑模控制 |
A Path Following Control Method for Mobile Robot |
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| TONG Yan,XU De-min,SHI Ju-feng.A Path Following Control Method for Mobile Robot[J].Fire Control & Command Control,2008,33(12). |
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| Authors: | TONG Yan XU De-min SHI Ju-feng |
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| Institution: | TONG Yan1,XU De-min2,SHI Ju-feng1 (1.Center of Comm, , Control,No.91550 Army,Dalian 116023,China,2.College of Marine,Northwestern Polytechnic University,Xi\'an 710072,China) |
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| Abstract: | As the problem of path following for mobile robot is very complicated, a facility control system has been designed.The improved line of sight navigation guides the robot moving to the desired path smoothly.Velocity controller is designed based on fuzzy logic,and the angular velocity adopts sliding mode control.The flip of the angular velocity is minished.The result of the test improves that not only the precision of the following has been ensured,but also the instability of control has been avoided. |
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| Keywords: | mobile robot path following line of sight navigation fuzzy logic sliding mode |
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