模糊PID控制下移动机器人定位方法研究

Mobile Robot Localization Based on Fuzzy PID Control

摘要:

机器人定位研究一直是机器人学研究的重点,但目前机器人定位方法都存在缺点,抗干扰能力差,不能做到准确定位,主要是由于环境等多方面因素的干扰,定位误差会逐渐加大;由于上述原因,提出了一种基于设定值加权模糊PID控制的移动机器人自定位方法;给出了定位过程的参数,为机器人移动建立模型,设计一种模糊 PID 控制器,根据误差及变化率大小,选择模糊定位或PID定位,实现移动机器人的智能定位,提高机器人定位准确的准确性;通过仿真实验结果证明:模糊PID控制的机器人自定位方法对移动机器人的定位过程有较好的改善作用,实用效果较好。

Abstract:

Robot localization research has always been the focus of the robotics research, but the shortcomings of the current robot localization method, poor anti-interference ability can't be accurate positioning, mainly due to environmental factors such as interference, position error will gradually increase. For these reasons, puts forward a weighted fuzzy PID control of mobile robot based on value since the positioning method. RTFL localization algorithm principle is given for the mobile robot model, a fuzzy PID controller is designed, according to the error and the rate of change size to choose the fuzzy positioning or PID positioning, for the intelligent mobile robot localization, in order to improve the robot positioning accurate. Through the simulation experiment results show that the fuzzy PID control of the robot from the localization method for mobile robot localization process has good effect, the practical effect is better.