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移动机器人的智能控制技术是基于机器视觉的移动机器人与智能车辆自主导航的关键技术之一。首先介绍了移动机器人的基本硬件组成,然后模仿人工预瞄驾驶行为,提出了移动机器人运动控制的模糊控制方法,并详细介绍了该控制器的结构组成和设计过程。实验表明:提出的模糊控制方法可保证移动机器人快速、准确地沿各种参考路径行走,且具有良好的鲁棒性。该控制方法也可用于智能车辆的自动导航控制。
The intelligent control technology of mobile robot is one of the key technologies of autonomous navigation of mobile robot and intelligent vehicle based on machine vision. Firstly, the basic hardware composition of the mobile robot is introduced. Then, the artificial preview driving behavior is simulated. The fuzzy control method of the mobile robot motion control is proposed. The structure and design process of the robot are introduced in detail. Experiments show that the proposed fuzzy control method can ensure that the mobile robot can walk quickly and accurately along various reference paths and has good robustness. This control method can also be used for automatic navigation control of smart vehicles.