本文針對實(shí)際的輪式自主移動(dòng)機(jī)器人軌跡控制和定位問題提出了一種解決方法。利用模糊PID復(fù)合控制器實(shí)現(xiàn)移動(dòng)機(jī)器人的軌跡控制,利用陀螺、磁羅盤、里程計(jì)進(jìn)行多傳感器融合定位。在計(jì)算機(jī)仿真和實(shí)際的輪式移動(dòng)機(jī)器人的軌跡控制、定位實(shí)驗(yàn)中,與使用PID控制器的方法進(jìn)行了比較,結(jié)果表明了多傳感器融合、模糊PID在解決軌跡控制和定位問題上的優(yōu)越性。
[關(guān)鍵詞] 移動(dòng)機(jī)器人模糊PID 軌跡控制多傳感器信息融合定位
[Abstract] Trajectory control and location method of a practical wheeled autonomous mobile robot systemis presented and discussed in this paper. To solve the problem, this paper presents an integrated method. Fuzzy PID Controller is used for trajectory control. Multi2
sensor data fusion algorithmuses the data which is fromgyro , electronic compass and odometer to solve robot location problem. The ex2
periment result showthe advantage of multisensor data fusion and fuzzy PIDcontrol over the pure PIDcontrol.
[ Key Words] Mobile Robot Fuzzy PID Controller Trajectory Control Multisensor Information Fusion Location