差动驱动移动机器人模糊机动控制器鲁棒性比较评价

Anais do 14º Simpósio Brasileiro de Automação Inteligente Pub Date : 1900-01-01 DOI:10.17648/sbai-2019-111607

Thiago de A. Ushikoshi, Kamilla P. Peixoto, L. L. Carneiro, P. Coutinho, T. Chagas, L. Schnitman

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引用次数: 0

摘要

本文介绍了最近提出的mamdani型模糊控制器及其改进版本应用于差动驱动移动机器人的机动控制的比较。通过仿真验证了控制器的性能，其中机器人受到干扰，如地面摩擦系数、质量和电池电量的变化。利用机器人的运动学和动力学模型进行控制器的整定和仿真。结果表明，改进后的控制器在所有三种情况下都具有更好的性能，因为它的响应更平滑，更准确。

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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Comparative Evaluation of Fuzzy Maneuvering Controllers Robustness for Differential Drive Mobile Robots

: This work presents a comparison between a Mamdani-type fuzzy controller recently proposed and its improved version applied to maneuvering control of a diﬀerential drive mobile robot. The performance of the controllers was veriﬁed through simulations, where the robot was subject to disturbances, such as variation of ground friction coeﬃcients, mass and battery level. The robot’s kinematic and dynamic models are used for controller tuning and simulation. Results suggest the improved controller has a better performance in all three cases, since its responses are smoother and more accurate.

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Anais do 14º Simpósio Brasileiro de Automação Inteligente

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