Optimal fuzzy control of autonomous robot car

O. Farhi, Y. Chervenkov
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引用次数: 8

Abstract

The paper describes the design of the fuzzy control system for an autonomous robot car which operates in unknown, unpredictable, and dynamic environment. The fuzzy control system must provide the fusing of data from multiple sensors and must ensure navigation of the autonomous robot car. Both - an obstacle avoidance control strategy and a target tracking control strategy - are used for the control of the autonomous robot car. They are combined and thereby resulting in an optimal control policy of the fuzzy control system. A computer simulationpsilas experiments of mobile autonomous robot carpsilas control policy show the effectiveness and feasibility of the proposed fuzzy control methods.
自主机器人汽车的最优模糊控制
本文介绍了在未知、不可预测、动态环境下运行的自主机器人汽车模糊控制系统的设计。模糊控制系统必须提供多传感器数据的融合,保证自动驾驶机器人汽车的导航。采用避障控制策略和目标跟踪控制策略对自主机器人汽车进行控制。将它们结合起来,从而得到模糊控制系统的最优控制策略。通过对自主移动机器人控制策略的计算机仿真实验,验证了所提模糊控制方法的有效性和可行性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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