| Wheeled mobile robot is an important branch in the technological field of the robot. It refers to computer science, automation, mechanism, electronic science. At present, more and more various kinds of mobile robot are being introduced into many application situations, such as automatic transfer of materiel, automatic exploration of dangerous regions, and service work etc. High demands on the navigation ability of mobile robot are put forward by these applications. Wheeled mobile robots belong to nonholonomic control systems, namely systems with nonintegrable constraints, while they are also typical strong nonlinear systems. For this reason, the traditional control method can not work efficiently on it. This thesis presents fuzzy logic control algorithm for the navigation of mobile robot in simulation and practice.First, behavior-based control is applied in the fuzzy control theory, A behavior-based fuzzy logical control method is designed for mobile robot to navigate it according to the idea of sensing-planning-acting, The C++ program about this method is carried out by MobileSim software of Pioneer 3-DX mobile robot.Secondly, this thesis studies the tracking control of nonholonomic mobile robot based adaptive fuzzy control. It presents a new control algorithm and considers both the kinematics model and dynamic model. Firstly, for the kinematics model, it presented a kinematics controller, Then, based on the dynamic model and kinematics controller, it presents an adaptive fuzzy controller which can overcome the unknown parametric model uncertainties and disturbances. The system stability and the boundness of tracking error are proved by using Lyapunov stability theory. The simulation results validated its effectiveness. |
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