【摘要】 针对采用履带式行驶机构的车底检查机器人,提出了一种基于模糊控制的航向纠偏算法,算法在实时嵌入式多任务控制系统中得到了具体实现,解决了机器人在行走过程中偏离航向以及误差累积的问题。通过试验验证了该算法的有效性,保障了航向纠偏的实时性。文中给出了模糊控制器的详细设计过程,并且给出了在不同行驶速度时,应用航向纠偏算法的机器人与无航向纠偏算法的机器人之间的航向数据对比曲线。更多还原

【Abstract】 The navigation method is proposed to keep heading stabilization of the tracked robot,which is designed for the specialized task of car bottom inspection.The method is based on the fuzzy logic control,which is implemented on the real-time embedded multi-task system.The problems of navigation departure and error cumulation are resolved.Consequently,it guaranteed the real-time correction of the navigation direction,and the method is validated by the experiments.The detailed design of the fuzzy controller is presented,and the contrast of navigation data between the robot with navigation correction method and the robot without correction method is shown.更多还原