摘要
文献[4]中提出了模糊优化的方法并应用于基于滚动机理的机器人路径规划。但在遇到某些特殊情况时会出现振荡问题而导致机器人不能到达终点。本文中提出了基于系统局部信息的滚动模糊优化算法,在模糊优化过程中引入了历史信息,通过增加新的和历史信息相关的约束,保证了所选择的局部子目标与全局目标的一致性,解决了上述振荡问题。并在MATLAB平台上进行了仿真,仿真结果证明了本算法的有效性。
A fuzzy optimization method is presented and used in robot path planning in [4], but the robot will oscillate in some special environment. A receding horizon fuzzy optimization method under local environment is presented in this paper. Some history information is involved in the fuzzy optimization. By adding new constraint the sub-objective is consistent with global-subjective, and the oscillation problem is solved. The efficiency of the presented algorithm is validated by simulation results.
出处
《系统仿真学报》
CAS
CSCD
2004年第8期1680-1682,1685,共4页
Journal of System Simulation
基金
国家自然科学基金(60074004)
关键词
预测控制
模糊优化
路径规划
振荡问题
局部子目标
全局目标
predictive control
fuzzy optimization
path planning
vibrancy problem
sub-objective
global-subjective
