基于模糊逻辑的移动机器人轨迹跟踪控制

THE SCIENTIFIC JOURNAL OF TRA VINH UNIVERSITY; ISSN: 2815-6072; E-ISSN: 2815-6099 Pub Date : 2022-01-21 DOI:10.35382/18594816.1.43.2021.819

T. Nguyen, P. Dang, Triet Pham, Tuan Anh Kim

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引用次数: 0

摘要

本文应用两轮移动机器人系统的数学模型，利用Matlab/Simulink软件进行控制。本文重点介绍了模糊控制器的设计方法，通过独立控制左右轮电机的转速来控制移动机器人，使机器人沿着给定的参考轨迹运动。基于Matlab/Simulink的仿真结果显示了模糊逻辑控制器对两轮移动机器人等复杂对象的控制效果，该对象要求机器人能够按照参考轨迹进行直线、圆和网格线的运动。结果表明，该机器人模型完全能够满足要求，模型能够在允许的距离和误差范围内，根据参考目标由简单到复杂的直线进行跟踪。

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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CONTROL OF MOBILE ROBOT TO TRAJECTORY TRACKING USING FUZZY LOGIC METHOD

In this article, mathematical model of two-wheeled mobile robot system is applied and controlled using Matlab/Simulink software. The article focuses on presenting the method of designing Fuzzy Logic controller to control the mobile robot by independently controlling the wheel speed of the left and right wheel motors so that the robot can move and follow the given reference trajectory. Simulation results from Matlab/Simulink tool show the effect of Fuzzy Logic controller on complex objects such as two-wheeled mobile robot which is required that the robot can move to follow the reference trajectory with lines, circles, and gridlines. The results confirm that the robot model can fullymeet the requirements, the model is able to follow the reference target based on the line from simple to complex with the allowable distances and errors.

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来源期刊

THE SCIENTIFIC JOURNAL OF TRA VINH UNIVERSITY; ISSN: 2815-6072; E-ISSN: 2815-6099

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