CAJ | 학술논문

对含不确定性的移动机器人系统设计了路径跟踪模糊控制方法。该方法引入临时路径，使机器人先从初始位置出发沿临时路径行进，当移动到期望路径附近时，再让机器人跟踪期望路径。整个控制过程只需要一个模糊控制器，极大地减少了工作量，并引进积分环节以消除稳态误差。仿真和实验结果验证了该方法的有效性。
대함불학정성적이동궤기인계통설계료로경근종모호공제방법。해방법인입림시로경，사궤기인선종초시위치출발연림시로경행진，당이동도기망로경부근시，재양궤기인근종기망로경。정개공제과정지수요일개모호공제기，겁대지감소료공작량，병인진적분배절이소제은태오차。방진화실험결과험증료해방법적유효성。
A fuzzy control scheme of path tracking for mobile robots with uncertainty is presented. A temporary path is designed for the path tracking, which makes the robot move along the designed temporary path first, when it is near the desired path, the robot will go along it then. The whole tracking process is controlled by one fuzzy controller, which reduces the computation burden, and an integration term is added into the controller to eliminate the steady-state error. The performance of proposed approach is demonstrated through simulation and experiment examples.