摘要
为了对模型复杂的轮式地面机器人进行转向控制,应用了模糊遗传PID控制方法。先用模糊神经网络建立车体模型,再用遗传PID进行参数寻优,最后用优化参数控制机器人转向。该方法能直观地判断PID参数是否有效。经过对车体转向控制的实验研究,控制效果良好。
Research steering control of automated wheeled vehicle, which has very complicated mathematic model.A Fuzzy neural network model and GA PID control method is used. At first, a neural network model of the mobile robot is established. Then the GA PID method is used to find the best control parameters, efficiency of the PID parameters can be judged directly. This method can adapt different velocity. The experiments result is satisfied.
出处
《微计算机信息》
2003年第12期17-18,共2页
Control & Automation
