絶対座標系に基づく移動ロボット車のファジィ軌道追従制御

抄録

A new control method based on the absolute coordinate system is proposed for the fuzzy path tracking of a mobile robot. The control system consists of three independent fuzzy controllers, which respectively use the position information χ and y in the absolute coordinate system and the azimuth information φ, instead of using the conventional velocity information υ in the mobile coordinate system and the azimuth information. The techniques for adaptively determining the input scalers and rationally choosing the constant values in the fuzzy conclusion are also described. A connection network that generates the torques of left-right wheels is constructed using the Jacobian matrix which relates the mobile coordinates and the absolute coordinates. The effectiveness of the proposed method is illustrated by performing simulations of circular and square path tracking controls.