不确定环境下移动机器人路径规划算法研究

Research on the Path Planning of Mobile Robot in Uncertainty Environment

该文对不确定环境下移动机器人路径算法进行了研究,并提出了一种新算法-基于两点法的模糊控制算法。首先利用两点法求出预设轨迹,然后把预设轨迹上的点作为移动机器人的阶段目标点,再利用模糊控制算法修正移动轨迹,进行路径规划。这样可以简化模糊控制规则的制定,减少模糊控制规则的数目,从而大大提高路径规划的速度。应用该方法进行了避障、道路跟踪等控制实验。实验表明,该算法具有很好的灵活性和鲁棒性。

The paper discusses the algorithm of path planning of mobile robot in uncertainty environment and presents a new algorithm-a fuzzy control method based on two-dot method. The supposed path is acquired with two-dot method at first. Then the points on the supposed path are treated as the aimed points at some stages and the supposed path is updated with the fuzzy control algorithm. This method can decrease the numbers of the fuzzy control rules and increase the speed of path planning. We have demonstrated the method with the experiments of obstacle-avoiding, path-tracking. The experiments indicate that the method has flexibility and robustness.