摘要
为了适应空调管道的复杂环境,提高空调管道清扫机器人控制性能,降低控制复杂度,构建了一个分层的自适应模糊控制器。通过多输入系统进行分层输入和叠加输出,大量简化了模糊逻辑推理,减少了控制规则数。应用遗传算法对控制器参数进行优化,有效地融合了控制信息,达到了较理想的控制特性。实验和仿真结果表明,模糊控制器适应性强,优化后模糊控制器具有很好的控制效果,实现了机器人在管道中自主导航。
To adapt to complex environment, improve control performance and simplify the control complexity, a hierarchical adaptive fuzzy lngie control of the pipe rohot is presented. The fuzzy logic consequence is gready simplified by dividing the multi-input into hierarchical inputs. The hierarchical structure reduces the number of rides. Applying genetic algorithms optimizes the parameters of the controller. The attained track is perfect. The simulation and experiment results show that the controller has good adaptabilities to avoid obstacle. The robot can be navigated by itself and walks steadily.
出处
《控制工程》
CSCD
2007年第1期102-104,114,共4页
Control Engineering of China
关键词
管道机器人
分层控制
模糊控制器
遗传算法
导航
robot
hierarchical control
fuzzy controller
genetic algorithm
navigation
