УПРАВЛЕНИЕ ДВИЖЕНИЕМ МОБИЛЬНОГО РОБОТА ПО РАЗЛИЧНЫМ ТРАССАМ НА ОСНОВЕ ПРИНЦИПА РЕДУКЦИИ ТЕОРИИ НЕЧЕТКОСТИ

Abstract

The object of the study is the control of the movement of a mobile robot along a line. To build automatic control systems for robots, various algorithms are used, for example, PID controllers, as well as algorithms based on fuzzy logic methods. Methods of the fuzzy theory form one of the universal approaches to the analysis and modeling of applied problems, including in matters of robot control.
 In any study, problems arise immediately as soon as events (facts) are accepted as fuzzy, for example, due to inaccurate measurement, fuzzy description, etc. The concept of fuzziness is intuitively clear to everyone, but its formalization causes difficulties, which are always of a fundamental nature. Consideration of the foundations of the theory is caused by the search for possible solutions to problems in the experimental part of the study, which addresses the issues of speed regulation and dynamic accuracy of the movement of a mobile robot.
 The article puts forward a hypothesis about the effectiveness of the method of controlling the movement of a mobile robot based on the fuzzy theory in comparison with the PID controller. To substantiate the hypothesis, a description of the movement of the robot in terms of fuzzy theory is given, the features of the movement of the robot depending on the type of tracks are considered, a fragment of the program for implementing a controller based on fuzzy logic is presented, and a number of experiments are carried out.
 Experimental verification showed a more stable and faster movement of the robot along the tracks and confirmed the hypothesis of the study. The results of the experiments made it possible to correct the fuzzy inference rules and the robot motion control program. The results obtained open up new possibilities for the wide application of fuzzy theory in robotics.