CAJ | 학술논문

移动机器人的自主导航是当前机器人控制的研究热点，将GPS/MEMS传感器信号进行融合实现移动机器人的航迹规划与跟踪，最终实现移动机器人自主导航。首先，针对Sage_Husa自适应滤波算法进行改进以有效抑制滤波发散，改善其动态性能和稳定性，提高GPS导航精度。其次，控制器采用模糊PID对控制策略实时改变，以保证控制系统性能指标在最佳范围内，实现控制的稳定性。将改进的Sage_Husa滤波算法与模糊PID应用于移动机器人的自主导航控制。最后，通过仿真和试验，结果表明新建立的方法可行与有效。
이동궤기인적자주도항시당전궤기인공제적연구열점，장GPS/MEMS전감기신호진행융합실현이동궤기인적항적규화여근종，최종실현이동궤기인자주도항。수선，침대Sage_Husa자괄응려파산법진행개진이유효억제려파발산，개선기동태성능화은정성，제고GPS도항정도。기차，공제기채용모호PID대공제책략실시개변，이보증공제계통성능지표재최가범위내，실현공제적은정성。장개진적Sage_Husa려파산법여모호PID응용우이동궤기인적자주도항공제。최후，통과방진화시험，결과표명신건립적방법가행여유효。
How to realize the autonomous navigation of mobile robot is the research focus of the robot control, GPS/MEMS sensor signals are combined to realize the path planning and tracking of mobile robot, finally to realize the autonomous navigation. Firstly, the filtering algorithm adopts the improved self-adaptive filtering method, to restrain filtering divergence. It improves the dynamic performance of the filter, strengthens the stability, and improves the precision of GPS navigation. Then, the controller adopts the fuzzy PID to change the control strategy in real time, to ensure the control system performance index within the best scope and to achieve the control stability. Combination of the improved self-adaptive filtering method and the fuzzy PID is applied to autonomous navigation of mobile robot control. Finally, simulation and test results show that the new method is feasible and effective.