摘要
根据轮型机器人机械系统的几何约束以及非完整约束的本质特性,提出推导系统模型的结构化方法,并建立一组适当的运动模型以及编码器的量测方程式;最大的突破在于以嵌入微控制器(组合语言)来实现模糊控制器的设计,采用模糊推论引擎来实现小型机器人B-spline轨迹追踪控制;将驾驶车辆的经验法则建立成If-Then规则库植入轮型机器人内建嵌入式微控器内,实验结果显示机器人顺利追上参考轨迹。
According to the geometric constraints of wheel type robot mechanical system and the essential characteristic of nonholonomic constraint, puts forward the structural system model derived from the method, and establish a set of proper motion model and measurement equation of the encoder. The biggest breakthrough is embedded micro controller （assembly language） to realize the design of fuzzy controller, the fuzzy inference engine is used to realize the small robot B - spline trajectory tracking control. Rules of thumb to establish a vehicle into an if-then rule library into wheel type robot built- in embedded microcontroller controller, the experimental results show that the robot successfully catch up with the reference trajectory.
出处
《计算机测量与控制》
北大核心
2014年第2期614-616,共3页
Computer Measurement &Control
关键词
模糊控制
轮型机器人
目标追踪
Fuzzy control
Wheel type robot
Target tracking
