Computer Engineering and Applications ›› 2010, Vol. 46 ›› Issue (11): 63-66.DOI: 10.3778/j.issn.1002-8331.2010.11.019

• 研发、设计、测试 • Previous Articles     Next Articles

Study on navigation algorithm of mobile robots

LUO Jun,LI Rui,FAN Peng-cheng   

  1. Key Laboratory of Opto-electronic Technology & System under the MOE,Chongqing University,Chongqing 400030,China
  • Received:2008-12-22 Revised:2009-02-23 Online:2010-04-11 Published:2010-04-11
  • Contact: LUO Jun


罗 钧,李 锐,樊鹏程   

  1. 重庆大学 光电技术及系统教育部重点实验室,重庆 400030
  • 通讯作者: 罗 钧

Abstract: The mobile robot under control of traditional navigation algorithm often makes mistakes in path recognition when running on complicated paths.This paper builts a kinematical model to analyze the mobile robot’s movement.It uses fuzzy PID control algorithm in the mobile robot control and an improved algorithm is introduced to deal with the cross-paths.The experiment proves that the mobile robot using that algorithm can recognize the cross-paths correctly and follow complicated paths accurately and quickly.

Key words: mobile robot, path recognition and following, fuzzy PID, improved algorithm

摘要: 传统的寻迹算法控制下的移动机器人通过复杂路径时常产生路径识别错误。针对这种情况,首先将移动机器人的寻迹过程抽象成运动学模型,然后将模糊PID算法应用于机器人控制,并针对交叉路径的识别问题提出了改进的寻迹算法。实验证明:采用所述算法后,机器人能正确地识别交叉道,实现了对复杂路径的准确、快速跟踪。

关键词: 移动机器人, 路径识别和跟踪, 模糊PID, 改进算法

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