基于FLC和NMPC的移动机器人实时轨迹跟踪与避障

Q2 Engineering

International Journal on Electrical Engineering and Informatics Pub Date : 2021-12-30 DOI:10.15676/ijeei.2021.13.4.12

H. Merabti, Ibrahim Aliouche, Abdelkadir Bouhallit, K. Belarbi, H. Nezzari, A. Benammar

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引用次数: 0

摘要

快速求解过程一直是自主移动机器人跟踪轨迹控制的挑战，同时检测和避开静态和动态障碍物。本文研究了两种快速控制器:模糊逻辑控制器(FLC)和基于知识粒子群优化(KPSO)的NMPC。该控制器用于在动态环境下同时控制两个移动机器人进行轨迹跟踪和避障。给出了所研究控制器的仿真和实验结果。结果表明，FLC具有最快的计算时间，在跟踪轨迹和避障方面具有可接受的精度，同时NMPC-KPSO具有良好的控制信号平滑性和机器人导航精度。在后一种情况下，需要缩短控制信号的计算时间。

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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Real Time Tracking Trajectory and Obstacle Avoidance for Two Mobile Robots by FLC and NMPC

Fast solution procedures are still persist as a challenge for autonomous mobile robot control for tracking trajectory, while simultaneously detecting and avoiding static and dynamic obstacles. In this work, two fast controllers are investigated: the Fuzzy Logic Controller (FLC) and the NMPC based on the Knowledge Particle Swarm Optimization (KPSO). Theses controllers are used to control two mobile robots at the same time for trajectory tracking and obstacle avoidance in a dynamical environment. Simulation and experimental results are presented for the studied controllers. The results show that the FLC has the fastest computation time with an acceptable accuracy in tracking trajectory and obstacle avoidance while the control signals smoothness and robots navigation accuracy are very good with the NMPC-KPSO. In this latter case, the computation of the control signal needs to be shortened.

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来源期刊

International Journal on Electrical Engineering and Informatics Engineering-Engineering (all)

CiteScore

2.70

自引率

0.00%

发文量

审稿时长

20 weeks

期刊介绍： International Journal on Electrical Engineering and Informatics is a peer reviewed journal in the field of electrical engineering and informatics. The journal is published quarterly by The School of Electrical Engineering and Informatics, Institut Teknologi Bandung, Indonesia. All papers will be blind reviewed. Accepted papers will be available on line (free access) and printed version. No publication fee. The journal publishes original papers in the field of electrical engineering and informatics which covers, but not limited to, the following scope : Power Engineering Electric Power Generation, Transmission and Distribution, Power Electronics, Power Quality, Power Economic, FACTS, Renewable Energy, Electric Traction, Electromagnetic Compatibility, Electrical Engineering Materials, High Voltage Insulation Technologies, High Voltage Apparatuses, Lightning Detection and Protection, Power System Analysis, SCADA, Electrical Measurements Telecommunication Engineering Antenna and Wave Propagation, Modulation and Signal Processing for Telecommunication, Wireless and Mobile Communications, Information Theory and Coding, Communication Electronics and Microwave, Radar Imaging, Distributed Platform, Communication Network and Systems, Telematics Services, Security Network, and Radio Communication. Computer Engineering Computer Architecture, Parallel and Distributed Computer, Pervasive Computing, Computer Network, Embedded System, Human—Computer Interaction, Virtual/Augmented Reality, Computer Security, VLSI Design-Network Traffic Modeling, Performance Modeling, Dependable Computing, High Performance Computing, Computer Security.