摘要
本文设计了一个模糊逻辑控制器以解决差速移动机器人轨迹跟踪的非线性问题;在此基础上使用粒子群优化算法解决模糊控制中隶属度函数边界优化的问题。将经过优化后的控制效果与未经优化的控制效果进行对比,仿真结果表明,经过粒子群算法优化后的模糊控制系统的跟踪误差更小,展现出更好的跟踪效果。
A fuzzy logic controller is designed to deal with the nonlinearity of trajectory tracking for differential mobile robot. On this basis, particle swarm optimization algorithm is used to solve the problem of optimizing the boundary of membership function in fuzzy control. The optimized control effect is compared with the non-optimized control effect. The simulation results show that the tracking error of the fuzzy control system optimized by particle swarm optimization algorithm is smaller, showing a better tracking effect.
作者
王蕴蒙
龙祖强
罗泽龙
Wang Yunmeng;Long Zuqiang;Luo Zelong(College of Physics and Electronic Engineering,Hengyang Normal University,Hengyang Hunan 421002,China)
出处
《衡阳师范学院学报》
2022年第6期27-31,共5页
Journal of Hengyang Normal University
基金
湖南省自然科学基金面上项目(2022JJ30104)
湖南省教育厅重点项目(21A0439)。
