非完整移动机器人的路径跟踪控制、

针对非完整四轮式移动机器人,基于人工驾驶的思想,在初始偏差较大的情况下调整机器人的角度并规划临时路径,采用模糊控制技术,分别设计了角速度和速度控制器,实现了机器人跟踪路径的目的。通过对初始角度的精确调整,使得角速度模糊控制器变得简便,提高了跟踪的效率。对直线和圆形路径进行了跟踪仿真,结果表明跟踪效果良好稳定。

The Path Following Control of Incomplete Mobile Robot

In view of the incomplete four-wheeled mobile robot,based on the idea of manual driving and under the condition of large initial deviation,the angle of the robot is adjusted and the temporary path is planned and the angular speed controller and speed controller are designed respectively by means of the fuzzy control technology,realizing the path following of mobile robot.By the accurate adjustment of initial angle,the fuzzy controller of angular speed becomes simpler and easier than before and the efficienc...