摘要
借鉴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,介绍了模糊控制的理论基础,对路径规划算法进行了推导,在总结经验建立模糊规则的基础上,运用模糊推理,构造出一张实践效果较好的控制响应表.仿真结果表明,该算法应用于移动机器人路径规划具有正确性、实用性和智能性等,该方法计算量小,运算速度快,提高了机器人控制的速度.
The collision avoidance problem in path planning of mobile robot is inspired from fuzzy control concept. The theory of fuzzy control is introduced. The path planning algorithm is derived. Based on the experiences of fuzzy rules and fuzzy inference, a reasonable and applicable control response table is constructed. The simulation result shows that this algorithm has validity,practicability and intelligence with less computational work and faster computational speed as well as improving the control speed of the robot.
出处
《应用科技》
CAS
2005年第4期31-33,共3页
Applied Science and Technology
关键词
移动机器人
路径规划
避碰
模糊控制器
mobile robot
path planning
collision avoidance
fuzzy controller
