摘要
结合人类的经验及模糊控制理论研究移动机器人的局部路径规划问题 ,采用步长的转向角控制的方法模拟驾车减速的自然过程 ,同时采用了虚拟目标点的方法处理局部路径规划中经常出现的陷阱问题 .
A local path planning method for mobile robot using both fuzzy control theory and human experience is introduced. A way of “turning angle controlled step” is used to simulate the natural driving speed down process of human beings. A method of “virtual target” is introduced to deal with the problem of local minimum, which often occurs in local path planning. The result of the simulation experiment proves the effectiveness and feasibility of the way introduced.
出处
《机器人》
EI
CSCD
北大核心
2004年第6期548-552,共5页
Robot
基金
国家 8 63计划资助项目 (2 0 0 2AA42 2 2 4 0 )
