中文摘要：

模糊控制策略是机器人导航中广泛使用的控制策略。一般情况下，基于导航线的机器人视觉导航中，具体的模糊控制策略与摄像头特定的俯仰角相对应。摄像头的俯仰角改变，则相应的模糊控制策略就需要改变，否则将会影响模糊控制策略的准确性。研究发现，摄像头不同俯仰角之间，其视野区域存在着内在联系，理论证明支持该结论。在此基础上，提出了一种计算方法，当给出某个较小角度俯仰角的模糊控制策略之后，对任意较大角度的摄像头俯仰角，能够自动给出相应的模糊控制规则，控制机器人沿导航线行进。实验证明，算法给出的模糊控制策略，能较好的控制机器人偏离导航线的误差。

英文摘要：

Fuzzy control strategy is widely used in robot navigation control. In general, in the navigation of navigation - line - based robot, the specific fuzzy control strategy corresponds to a particular pitch of the camera When camera pitch changes, the corresponding fuzzy control strategy needs to change, otherwise it will affect the accuracy of fuzzy control strategy. Research found that the different pitch of the camera and its field of view is in- trinsically linked, theoretical evidence to support that conclusion. On this basis, a arithmetic is given, when a minor pitch of the camera is given, the corresponding fuzzy control strategy for any larger pitch of the cameras can automatically be given. Experimental results show that the fuzzy control which given by algorithm can be well controlled the deviate from the navigation line.