带轮移动机器人的模糊pi控制方法

2007 14th International Conference on Mechatronics and Machine Vision in Practice Pub Date : 2007-12-01 DOI:10.1109/MMVIP.2007.4430743

Xiaodong Zhang, Yunxia Wang, W. Dai

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引用次数: 0

摘要

提出了一种带轮移动机器人的运动控制方法，采用模糊- pi组合控制算法实现电机转速的对应，使移动机器人能够实现不同的运动特性。最后，通过在XJTUMR-1四轮移动机器人上的实验验证，研究结果表明所研究的运动控制方法具有良好的适应性和鲁棒性。

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An approach for fuzzy-PI control of mobile robot with wheels

A moving control method for mobile robot with wheels is presented in this paper, which adopts a combined fuzzy-PI control algorithm to realize the corresponding of motor rotation speed, so that the mobile robot can realize some different moving properties. At last, by the experimental verification in the four-wheel mobile robot named as XJTUMR-1, the research results show the investigated moving control method has a good adaptability and robust.

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2007 14th International Conference on Mechatronics and Machine Vision in Practice

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