室内环境下自主移动机器人的视觉跟踪控制

M. S. Saidon, H. Desa, R. Nagarajan, M. Paulraj
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引用次数: 8

摘要

本文提出了一种基于视觉传感器的移动机器人目标采集方案。该方案是为了准确地测量目标在现实世界坐标中的位置,并找到移动机器人到目标的距离。建立了自主非完整移动机器人微分转向控制的模糊逻辑控制律。为了使系统渐近稳定,对模糊控制律提出了一定的要求,以便为模糊控制器选择合适的规则库。从理论上证明了所提出的模糊控制器的稳定性,并通过仿真研究进行了验证。最后,将所提出的模糊控制器应用于非完整移动机器人上,结果表明,所提出的模糊控制器能达到所期望的转角,移动机器人能很好地跟随目标。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Vision based tracking control of an autonomous mobile robot in an indoor environment
In this paper, we present a scheme for target acquisition scheme for mobile robot that will use vision sensor. The scheme in order to accurately measures the location of a target in real world coordinates and finds the distance to the target from the mobile robot. Fuzzy logic control laws for differential steering control of the autonomous nonholonomic mobile robot are developed. Certain requirements for the fuzzy logic control laws are presented to chose suitable rule base for the fuzzy logic controller in order to make the system asymptotically stable. The stability of the proposed fuzzy logic controller is theoretically proved and also demonstrated by simulation studies. Finally, the proposed fuzzy logic controller is implemented on the nonholonomic mobile robot and the results show that the proposed fuzzy controller can achieve the desired turning angle and the mobile robot follows the target satisfactorily.
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