Synthesis of the Two-Level Intelligent Hierarchical Control System of the Mobile Robot

摘要

The actual problems related to the operation of high-quality intelligent control systems under the conditions of autonomy of two-wheeled mobile robots have been investigated in the paper. The synthesis method of the two-level intelligent control system of two-wheeled mobile robot for a dynamic object written by a multiply connected nonlinear model is proposed. According to the proposed method, an algorithmic support of the synthesis problem of a two-level intelligent control system is developed on the bases of fuzzy logic and finite automata. One of the advantages of the proposed in the paper method is to provide the activity of a two-wheel mobile robot, quickly, with high dynamic accuracy and without collision with barriers in the environment of several obstacles.