Fuzzy tracking method with a switching grey prediction for mobile robot

摘要

A mobile robot fuzzy tracking mechanism for a mobile robot is proposed in this paper. A switching grey prediction is proposed such that the mobile robot can track the target effectively. Conventional position-based tracking strategies usually define the dynamics models either for motion control on the tracker or for position prediction on the target. This makes the system inflexible and difficult to implement. Our fuzzy tracking systems based on switching grey prediction can be extended as a flexible strategy in dealing with uncertain environments in robotics applications. The grey prediction attempts to establish a grey model from the recent historical information. The model is updated online as the input changes. According to the grey model, the switching mechanism can adjust the forecasting step size for prediction. The performances of the simulations are presented. It is clear that the proposed tracking systems are effective and could easily be made available.