CAJ | 학술논문

建立了履带式移动机器人的数学模型.模仿人工驾驶过程中的预瞄行为,提出了一种移动机器人路径跟踪的模糊控制方法.用距离误差和预瞄角度误差作为控制量建立角速度控制器,实现对匀速行驶移动机器人的路径跟踪控制.LabVIEW仿真结果表明,提出的模糊控制方法能够保证移动机器人快速、准确的沿规划路径行驶,具有良好的鲁棒性.
건립료리대식이동궤기인적수학모형.모방인공가사과정중적예묘행위,제출료일충이동궤기인로경근종적모호공제방법.용거리오차화예묘각도오차작위공제량건립각속도공제기,실현대균속행사이동궤기인적로경근종공제.LabVIEW방진결과표명,제출적모호공제방법능구보증이동궤기인쾌속、준학적연규화로경행사,구유량호적로봉성.
A model for tracked mobile robot is introduced. Base d on preview behavior of a human driver, an effective fuzzy control method for mobile robot path tracking was proposed. Angular velocity controller was developed oriented by distance error and preview angle error to a chieve the movement control for constant line velocity mobile robot. Computer simulation results show that the mobile robot controlled by the proposed method can follow planned path quickly, accurately and robustly.