Research On Mobile Robot Based On The Fuzzy-PID Control

Mobile robot is an important branch in the technological field of the robot.It refers to computer science,automation,mechanism,electronic science etc.In the workshop and warehouse of the manufacturing industry producing the explosives and pyrotechnics, the workers hand hazardous materials and products by themselves,which have significant security. This thesis offers a design proposal based on visual navigation and the fuzzy-PID control,which improves the safety of the workers by handing the materials in place of the workers.The thesis expounds the basal principle of the mobile robot's fuzzy-PID control system,and makes researches of the mobile robot's system architecture and kinematics model.On that basis,this thesis set up hardware platform of the system.The hardware system includes the following module:the microcontroller system based on the 16-bit singlechip(MC9S12XS128MAL); the image acquisition circuit consisting of the AD chipTLC5510 and the separating-video chip LM1881; the H-Bridge motor's drive circuit;the circuit of that the infrared sensor(E18-D80NK) explores the obstacle; the velocity measurement by the photoelectric sensor; the 4*4 matric keyboard and LCD12864 interface circuit.The hardware system can quickly acquire the video,horizontal and vertical sync signals,can drive the motor efficiently,and achieve the avoidance and path tracking.On the basis of the hardware system,this thesis developes the software system of mobile robot.The software system consists of the image acquisition and processing subroutine,the steering engine's fuzzy-PID control algorithm,the algorithm to measure electro motor and the motor's fuzzy-PID control algorithm.The thesis makes study of the non-equidistant sampling algorithm,which reduces the impact of trapezoid distortion in the image acquisition process.In the image preprocessing,this thesis makes researches of an binary image's algorithm based on the median filter and fixed threshold.In the path tracking,this thesis researches an algorithm of the navigation line segments which uses the width threshold of the leading line and the benchmark centerline.The thesis uses the fuzzy-PID control algorithm,which not only solves the problem that accuracy of the fuzzy control is not high, but also solve the problem that the anti-interference of the PID is poor.The fuzzy-PID control makes the stability and anti-jamming of the mobile robot better.Finally,the joint debugging of the mobile robot's software and hardware system,verifies the reliability and stability of the system.And the thesis achieve the mobile robot's path tracking and obstacle avoidance by the joint debugging.The test of the mobile robot achieves the desired effect.