An optimized fuzzy trajectory tracking control of mobile robots

摘要

For mobile robots with nonholonomic constrains, modeling and trajectory tracking are both nonlinear problems. The traditional tracking algorithm often uses too simplified restrictive conditions, which makes the accuracy of tracking control hard to achieve the desired precision. In this paper, fuzzy control solution is introduced to resolve the robustness of mobile robot trajectory tracking problem. On the other hand, to overcome the shortcomings of conventional fuzzy controller, particle swarm optimization algorithm and fuzzy-integral mixed with organically integrated control method are given. The integral control which is introduced to fuzzy control, can eliminate steady state error, by use of particle swarm optimization algorithm, the fuzzy control is optimized, the mobile robot trajectory tracking problem obtains satisfied results. Simulation and the experimental results prove the effectiveness of the proposed methods.