论文标题
移动机器人运动控制使用模糊逻辑方法和运动学模型的组合
Mobile Robot Motion Control Using a Combination of Fuzzy Logic Method and Kinematic Model
论文作者
论文摘要
移动机器人已被广泛用于人类生活的各个方面。当机器人在工作区域的不同位置之间移动以执行任务时，控制运动以遵循预定义的路径是移动机器人的主要任务。此外，机器人必须保持其期望的速度与其他代理商合作。本文提出了运动控制器的开发，其中模糊逻辑方法与差分驱动机器人的运动学模型结合使用。将模拟结果与实验结果进行了很好的比较，表明该方法有效，适用于实际移动机器人。
Mobile robots have been widely used in various aspects of human life. When a robot moves between different positions in the working area to perform the task, controlling motion to follow a pre-defined path is the primary task of a mobile robot. Furthermore, the robot must remain at its desired speed to cooperate with other agents. This paper presents a development of a motion controller, in which the fuzzy logic method is combined with a kinematic model of a differential drive robot. The simulation results are compared well with experimental results indicate that the method is effective and applicable for actual mobile robots.
