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计算机工程 ›› 2011, Vol. 37 ›› Issue (14): 175-177. doi: 10.3969/j.issn.1000-3428.2011.14.058

• 人工智能及识别技术 • 上一篇    下一篇

基于模糊控制的移动机器人视觉反馈跟踪

孙 妍,王朝立,杨亚民   

  1. (上海理工大学光电信息与计算机工程学院,上海 200093)
  • 收稿日期:2010-12-20 出版日期:2011-07-20 发布日期:2011-07-20
  • 作者简介:孙 妍(1986-),女,硕士,主研方向:智能控制,视觉控制;王朝立,教授;杨亚民,硕士
  • 基金资助:
    国家自然科学基金资助项目(60874002);上海市教委重点科技创新基金资助项目(09ZZ158);上海市重点学科基金资助项目(S30501);上海市研究生创新基金资助项目(JWCXSL1002)

Visual Feedback Tracking of Mobile Robot Based on Fuzzy Control

SUN Yan, WANG Chao-li, YANG Ya-min   

  1. (School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China)
  • Received:2010-12-20 Online:2011-07-20 Published:2011-07-20

摘要: 探讨视觉空间下非完整移动机器人的跟踪问题。在不校准摄像机视觉参数的前提下,提出一种利用视觉反馈信息设计非完整移动机器人轨迹跟踪的模糊控制方法。其模糊控制使用Mamdani推理机,包含if-then规则和重心法,对线速度和角速度进行控制。仿真结果证明了该方法的有效性。

关键词: 跟踪, 模糊控制, 移动机器人, Mamdani模型, 视觉反馈

Abstract: This paper investigates the visual servoing tracking problem of nonholonomic mobile robots. The fuzzy logic control approach is exploited to design a tracking controller for nonholonomic mobile robots with uncalibrated visual parameters. Its fuzzy logic control part is built by using Mamdani inference system including if-then rules and the centroid of area method as its deffuzification strategy. The outputs of the system are linear velocities and angular velocities. The effectiveness of the method is illustrated in the simulation study.

Key words: tracking, fuzzy control, mobile robot, Mamdani model, visual feedback

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