基于模糊的非完整移动机器人导航与控制
Fuzzy-based Navigation and Control of a Non-Holonomic Mobile Robot
摘要：
近年来，使用非分析计算方法，如模糊逻辑，演化计算，和神经网络已经证明了这些范例的实用性和潜力的智能控制的移动机器人导航。在本文中，基于模糊控制器的自主移动机器人的理论模型的开发。本文首先建立了机器人的数学模型，包括运动学模型。然后，详细讨论了模糊逻辑控制器的设计。所提出的方法是成功地在模拟测试，它比较了三种不同的隶属函数集的有效性。结果表明，输入隶属度为3的模糊逻辑控制器比输入隶属度为5和7的控制器具有更好的性能。
英文摘要：
In recent years, the use of non-analytical methods of computing such as fuzzy logic, evolutionary computation, and neural networks has demonstrated the utility and potential of these paradigms for intelligent control of mobile robot navigation. In this paper, a theoretical model of a fuzzy based controller for an autonomous mobile robot is developed. The paper begins with the mathematical model of the robot that involves the kinematic model. Then, the fuzzy logic controller is developed and discussed in detail. The proposed method is successfully tested in simulations, and it compares the effectiveness of three different set of membership of functions. It is shown that fuzzy logic controller with input membership of three provides better performance compared with five and seven membership functions.
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