Research of the motion balance of spherical mobile robot based on fuzzy control

摘要

In the background of polar research robot equipment, this paper presents a kind of control system of large-size spherical robot, and resolves the problems of balance and motion control of spherical robot by fuzzy control algorithm. Through comparison among different control methods, we took one practical and feasible way. On the basis of balance problem, we proposed a relative control strategy. Especially on the problem of the deflection of minor axis, we analyzed it and further designed a specialized fuzzy controller to control the deflection of this robot, this helped to solve the uncontrollable problem of the robot. The algorithm easily suffers from environmental influence, for this reason, we proposed a kind of optimization algorithm based on reference model by correcting coefficient. It can make the algorithm adapt environment automatically when the landform remain unchanged and implement control of the robot by amending the parameter of fuzzy algorithm’s output. Finally, we implemented a motion control experiment for our self-design robot. The experimental data showed the validity and practicability.