基于模糊PID的轮式移动机器人轨迹控制

本文针对实际的轮式自主移动机器人轨迹控制和定位问题提出了一种解决方法。利用模糊PID复合控制器实现移动机器人的轨迹控制,利用陀螺、磁罗盘、里程计进行多传感器融合定位。在计算机仿真和实际的轮式移动机器人的轨迹控制、定位实验中,与使用PID控制器的方法进行了比较,结果表明了多传感器融合、模糊PID在解决轨迹控制和定位问题上的优越性。
[关键词] 移动机器人模糊PID 轨迹控制多传感器信息融合定位
[Abstract] Trajectory control and location method of a practical wheeled autonomous mobile robot systemis presented and discussed in this paper. To solve the problem, this paper presents an integrated method. Fuzzy PID Controller is used for trajectory control. Multi2
sensor data fusion algorithmuses the data which is fromgyro , electronic compass and odometer to solve robot location problem. The ex2
periment result showthe advantage of multisensor data fusion and fuzzy PIDcontrol over the pure PIDcontrol.
[ Key Words] Mobile Robot Fuzzy PID Controller Trajectory Control Multisensor Information Fusion Location