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针对智能车在沿路径行驶过程中的控制问题,提出了一种相对精确而又快速的模糊控制方法,该控制方法采用特殊布局的传感器感知智能车的位姿,利用Mamdani模型建立模糊控制器,将智能车的位姿偏差和偏差变化速率作为控制器的输入量,输出量是智能车的纠偏数值和移动速率,通过选择合适的模糊控制规则,实现智能车的精确快速导航。并应用Matlab对控制系统进行仿真,仿真和实验结果表明,该控制方法不仅能够提高智能车的导航精度,还可以提高智能车的平均速率。
Aiming at the control problem of the smart car driving along the path, a relatively accurate and fast fuzzy control method is proposed. The control method uses a special layout sensor to perceive the pose of the smart car, establishes a fuzzy controller by using the Mamdani model, The position deviation and deviation change rate of smart car are taken as the input of the controller. The output value is the correction value and the moving speed of the smart car. By selecting the appropriate fuzzy control rules, the smart car can be precisely and quickly navigated. The control system is simulated by Matlab. Simulation and experimental results show that this control method can not only improve the navigation accuracy of smart cars, but also improve the average speed of smart cars.