自律移動車輪型ロボットの実際位置に関する軌道追従制御 : 第2報,外乱を考慮したシミュレーションとファジィ推論による推定姿勢角度修正ゲインの決定

概要

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In the previous report, we proposed a method of modifying the estimated directional angle with the laser beacon measuring system for a wheeled mobile robot (WMR). It dealt only with a stable area of modifying gains, which are necessary to calculate the modifying quantity of the estimated directional angle. But it did not deal with a method of deciding modifying gains. In the present report, we propose the method of deciding the modifying gains using both a simulation reflecting disturbance and a fuzzy reasoning. This method has two merits : firstly, a mathematically expressed exact model is not necessary because of using the fuzzy reasoning, and secondly, using the simulation for both the design of the fuzzy reasoning means and the decision of the modifying gains reduces the number of necessary experiments. Moreover, we conduct the experiment using the modifying gains which are determine in this paper, and show that they are effective in the trajectory tracking control for WMR.
社団法人日本機械学会の論文
1995-11-25