【作者】 杨毅； 付梦印； 孙常胜； 王美玲； 赵诚；

【Author】 Yang Yi,Fu Mengyin,Sun Changsheng,Wang Meiling,Zhao Cheng School of Information Science and Technology Beijing Institute of Technology,Beijing,100081,P.R.China

【机构】 北京理工大学信息科学技术学院；

【摘要】 本文讨论差速转向移动机器人自动行驶控制。通过对移动机器人进行动力学分析,确定了机器人运动状态的约束条件;针对移动机器人在行驶状态中存在的不确定因素,提出了一种新颖的模糊控制方法。构建了基于ADAMS与MATLAB的移动机器人联合仿真平台,以iRobot ATRV2型移动机器人为例,利用随机数序列和功率谱密度函数建立了行驶道路模型,跑车仿真试验证明了本文提出的模糊控制方法的有效性。更多还原

【Abstract】 Autonomous steering control of wheeled skid-steer mobile robot is focused on.According to dynamic analysis on the robot motion,kinematic constrains of the robot motion is put forward.As uncertain control factors exist during the robot running state,a novel fuzzy control algorithm is proposed.Based on ATRV2 mobile robot and its running environment in-formation,using random number sequence,power spectra density function and virtual prototype technology,ADAMS and MATLAB co-simulation platform is built up,and the robot simulation running experiment is performed in the environment.At the same time,the simulation results show that the fuzzy control algorithm is robust and effective for the mobile robot con-trol.更多还原