摘要
基于模糊控制的思想来解决移动机器人路径规划中的避碰问题,以便机器人在动态环境中快速、准确地找到一条无碰撞的路径,最终达到目标点。针对所给动态环境,设计一个模糊控制器;在确定模糊控制器的输入、输出变量以及各自语言值的基础上,根据动态障碍物与机器人运动方向的夹角、碰撞时间、碰撞点在障碍物上的位置等信息,制定相应的模糊控制规则。研究结果表明:本文设计的动态模糊控制器有效。
Based on fuzzy control,the collisions avoidance problem of mobile robot path planning was solved,for making the robot find a collision-free path in the dynamic environment quickly and accurately and reach the target eventually.A fuzzy controller was designed according to the characteristics of dynamic environment;input and output variables of fuzzy controller were selected and fuzzy control rules were determined based on the angle between moving obstacle and robot motion directions,collision time and collision point on the obstacle.The simulation results show that the proposed control strategy is available.
出处
《中南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2013年第S2期104-108,共5页
Journal of Central South University:Science and Technology
基金
教育部第36批留学回国人员科研启动基金资助项目(1341)
北京市重点学科建设项目(XK100080537)
