Model of Fuzzy Regulator of Mobile Robot Motion Control System

Abstract

The task of autonomous motion control of a mobile robot is considered. A mathematical model of a motion control system is constructed and analyzed. The methods of fuzzy logic allow building logical-linguistic models of motion control systems, reflecting the entire semantic formulation of the problem, using qualitative representations corresponding to "human" methods of reasoning and decision-making.A method for synthesizing a fuzzy algorithm of tracked mobile robot motion control is proposed. The input and output fuzzy variables are selected, the forms of their functions and linguistic description are proposed. The applicability of various fuzzy algorithms to solve the problem is analyzed. A knowledge base that establishes dependencies between input and output variables has been developed. The implementation of the mathematical model was carried out in the LabView graphical programming environment.The effectiveness of samples and implemented fuzzy control algorithms is confirmed by the results of computer experiments.