满足复杂要求的机器人最优巡回控制系统设计与实现

摘要

By combining the linear temporal logic theory and the fuzzy control method, a patrolling control system is presented in this paper, which enables the robot to perform complex temporal tasks. It can not only search the optimal path for complex sequential tasks, but also can realize the path tracking by using the fuzzy control method. Firstly, based on the theory of linear temporal logic (LTL), the global optimal path satisfying the demand of complex task is determined. Then, the fuzzy logic controller is designed for the trajectory tracking. It can actualize the optimal path tracking according to the feedback of the real-time position and orientation of the robot. Additionally, the simulation results show the effectiveness of the proposed patrolling control system. Finally, a patrolling control system satisfying the demand of complex task is established on the basis of the E-Puck robot, which includes image processing, data communications, algorithm loading and other software modules. The experiment shows that the complex patrolling control task is accomplished by using the proposed optimal patrolling path planning algorithm and the fuzzy control method.%本文结合线性时序逻辑理论与模糊控制方法，设计并实现了一种满足复杂任务需求的移动机器人巡回控制系统，它既能够针对复杂时序任务进行路径规划，又能够对机器人进行模糊控制实现路径跟踪。首先，基于线性时序逻辑理论，确定能够满足复杂巡回任务需求的全局最优路径。接着，根据所获得的最优路径，采用模糊控制方法设计轨迹跟踪控制器，使其通过实时位姿反馈对机器人进行路径跟踪控制。仿真结果验证了移动机器人巡回控制系统的有效性。最后，基于E-Puck移动机器人构建了能够满足复杂任务需求的移动机器人巡回控制实验系统。基于所提出的最优巡回路径规划算法和模糊控制器设计方法，通过图像处理、数据通信、算法加载等软件模块的实现完成了满足复杂任务需求的移动机器人巡回控制。