摘要
对未知环境下移动机器人的路径规划进行了研究,提出了一种基于模糊控制的路径规划算法。运用模糊推理,构造出一张实践效果较好的控制响应表。针对局部路径规划算法存在的死锁问题,该算法通过建立预防死锁机制,能够使机器人探测到危险区域即沿障碍物的边缘行走绕出障碍物,从而有效避免了死锁现象的发生,为解决死锁问题提供了一种新的思路。在多种环境中进行了仿真实验,仿真结果表明了该算法的有效性和可行性。
A path planning of mobile robot in unknown environment is studied and an algorithm based on fuzzy control is presented.With the method of fuzzy inference,a reasonable and applicable control response table is constructed.The local path planning has the deadlock problem.When the robot senses the danger areas,it can use the strategy of walking along the edge of the obstacle to escape from the obstacle by the precaution mechanism against deadlock built,thus the occurrence of the deadlock is avoided.The algorithm offers a new idea of the solution of deadlock.Simulation results in several kinds of environments prove the effectiveness and feasibility of the algorithm.
出处
《杭州电子科技大学学报（自然科学版）》
2007年第6期82-86,共5页
Journal of Hangzhou Dianzi University：Natural Sciences
关键词
移动机器人
路径规划
模糊控制
死锁
预防死锁机制
mobile robot
path planning
fuzzy control
deadlock
precaution mechanism against deadlock
