安徽工程大学学报Issue(1)：59-64,6.
基于智能结构模型的机器人轨迹跟踪控制研究
Tracking control of mobile robot based on intelligent structure model
摘要
Abstract
An intelligent control model structure of two‐level‐three‐stage is presented on the basis of fea‐ture modeling and the theories of traditional controls .It is applied in the trajectory tracking system of mobile robot ,which can be decomposed into two levels :decision and evaluation .The transferring man‐ners based on finite‐state‐machine is defined in decision level ,fuzzy PID based on prior knowledge is a‐dopted in execution level .The focus emphasis of the research is transferred from the mathematic model of the object to the knowledge model that combines the qualitative judgment with quantitative calculate according to the characteristic of the moving object .The problem of complex tasks and diversiform traj‐ectory can be solved through the model .The results of simulation and experiments showed that the structure is efficienct .关键词
智能结构模型/轨迹跟踪/有限状态机/模糊PIDKey words
intelligent structure model/trajectory tracking/finite-state-machine/fuzzy PID分类
信息技术与安全科学引用本文复制引用
刘伟,王庆龙,李秀娟,李瑶..基于智能结构模型的机器人轨迹跟踪控制研究[J].安徽工程大学学报,2016,(1):59-64,6.基金项目
安徽省高校优秀人才基金资助项目 （）
