控制理论与应用2016，Vol.33Issue(2)：172-180,9.DOI:10.7641/CTA.2016.41119
满足复杂要求的机器人最优巡回控制系统设计与实现
Design and implement of optimal patrolling control system to satisfy the complex requirements
摘要
Abstract
By combining the linear temporal logic theory and the fuzzy control method, a patrolling control system is presented in this paper, which enables the robot to perform complex temporal tasks. It can not only search the optimal path for complex sequential tasks, but also can realize the path tracking by using the fuzzy control method. Firstly, based on the theory of linear temporal logic (LTL), the global optimal path satisfying the demand of complex task is determined. Then, the fuzzy logic controller is designed for the trajectory tracking. It can actualize the optimal path tracking according to the feedback of the real-time position and orientation of the robot. Additionally, the simulation results show the effectiveness of the proposed patrolling control system. Finally, a patrolling control system satisfying the demand of complex task is established on the basis of the E-Puck robot, which includes image processing, data communications, algorithm loading and other software modules. The experiment shows that the complex patrolling control task is accomplished by using the proposed optimal patrolling path planning algorithm and the fuzzy control method.关键词
路径规划/巡回控制/线性时序逻辑/模糊逻辑Key words
motion planning/patrolling control/linear temporal logic/fuzzy logic分类
计算机与自动化引用本文复制引用
欧林林,陈浩,肖云涛,程诚,俞立..满足复杂要求的机器人最优巡回控制系统设计与实现[J].控制理论与应用,2016,33(2):172-180,9.基金项目
国家自然科学基金项目(61273116),浙江省自然科学基金项目(LY15F030015),国家高新技术研究发展计划项目(2014AA041601-05),机器人技术与系统国家重点实验室开放基金项目(SKLRS-2013-MS-06)资助.Supported by National Natural Science Foundation of China (61273116), Natural Science Foundation of Zhejiang Province (LY15F030015), National High-Tech R&D Program (2014AA041601-05) and State Key Laboratory of Robotics and System (SKLRS-2013-MS-06) （61273116）
