基于专家系统的多移动机器人模糊自校正协调系统

研究多移动机器人的运动规划问题，在实时运动规划专家系统的基础上提出了一种串级模糊控制器，以校正实际工作环境下各机器人的运动状态与理想情况下可能产生的误差，使各机器人正确调整各自运动状态，达到协调工作的目的。

This Paper has studied real  time motion planning for multiple mobile robots in the dynamic environment. Because of uncertainty of the accurate mathematical model and the disturbance of the environment ,it is difficulty for each robot to track the velocity deduced by the expert system strictly. A fuzzy controller is introduced to adjust the actual velocity for minimizing the error. The simulation results based on the scheme are presented to demonstrate its efficiency.

863计划,中科院机器人学开放研究实验室资助