移动机器人模糊控制与模糊自适应PID控制

摘要

研究机器人路径规划问题,在移动机器人上配置超声波传感器,对返回的距离值进行信息融合,并将环境分为有障和无障两种模式.针对无障模式下模糊控制的路径振荡问题,为了克服振荡和减小超调,提出了有障模式下的模糊控制和无障模式下的模糊白适应PID控制方案.利用MATLAB建立了GUI移动机器人仿真平台.仿真结果表明,在非结构化未知环境下,可使系统响应速度加快,解决了振荡和超调问题,更好地实现从起点到静态目标点的路径规划任务,可为设计提供可靠依据.%Disposing the ultrasonic sensor on the mobile robot and fusing the information from the measured value, the system divides the environments into two types: the obstacle mode and the non - obstacle mode.In view of the oscillation problem under the non -obstacle mode based on the fuzzy control, this paper proposes that the fuzzy control is used for the obstacle mode and the fuzzy adaptive PID control is used for the non - obstacle mode, and establishes the simulation platform based on the MATLAB GUI.The simulation results indicate that the system has quick response speed and strong self - adaptive ability, and can realize safe track from the beginning to the static target point under the non - structural unknown environment.