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

中图分类号: 

• TP391