Design And Implementation Of Cloud Model Obstacle Avoidance Control System For Wheeled Robot

In practice applications, we often encounter some systems which need a lot of experimentation and constantly trying to achieve good control effect. This control method with a lot of subjectivity, and these systems are difficult to use a specific mathematical model to describe. Way of control them is to get people's life experience, but the classical control theory is powerless. How to design effective conversion model (controller) of qualitative and quantitative has become an important subject which placed in front of experts and scholars. The cloud model is a novel conversion model, and used to simulate uncertainty intelligence of human thinking. Cloud model which use the language value to express, is an uncertainty conversion model between a qualitative concept and its quantitative conversion. It is used to reflect the uncertainty of the concept in natural language. so far, this theory is studied in theoretical and simulation-based. how quickly and easily to design effective and reliable cloud model controller has become the focus. For research of the cloud model theory, this paper based on previous study results, The cloud controller designed method is proposed baseing on SCM. and the cloud model controller is applied to wheeled robot obstacle avoidance control system. The main work includes:(1) Describe the research background and significance of this research work; overview of wheeled robots, cloud model control theory and the history and development of micro-controller; explained the main contents of this article. Introduced the basic theory of cloud model.(2) Design the robot's hardware system, including the motor, distance sensors, power supply and so on.(3) According to the system, designed the wheeled robot obstacle avoidance strategy. Established the rule base of cloud model, and designed the controller of speed-cloud model and the controller of turn-cloud model based on the human control experience .(4) Finally a series of wheeled robot obstacle avoidance experimental, proved effective and scientific of the design. the cloud model controller designed method provide some reference for the future provide some reference.(5) Picture is drawn in the last chapter and the research directions in this field for the future are also indicated in this part.