自主移动机器人的模糊智能导航

Fuzzy Intelligent Navigation of Autonomous Mobile Robot

移动机器人在运动过程中所获得的传感器信息是动态且不确定的。移动机器人的控制采用了基于行为的结构,它能够克服环境的不确定性,可靠地完成复杂任务,且效率高,鲁棒性好。为了实现机器人在未知、动态、复杂环境下具有一定智能的自我决策的能力,利用模糊控制器来完成移动机器人的各种自主行为,所有被激活的行为采用分划方法来融合,可以很好地处理不确定的情况。最后通过仿真验证了该方法对移动机器人导航的有效性和可行性。

The mobile robot＇s information about environment acquired from sensors is dynamic and indefinite when it＇s working. The navigation architecture based on the behavoirs adopted for the control of the mobile robot in this paper can overcome the environ uncertainity and complete the complicated tasks with high efficiency and better robustness reliably. In order to realize that the robot will have a certain intelligent self-decision-making abitity in the case of unknown, dynamic and complicated environs, the fuzzy controllers are used-to execute various kinds of self-independent behaviors of the mobile robot so that the partition solution or solvent can be used to fuse all the activiated or fired behaviors. Whereby the uncertain situations can be well dealt with. Finally, the effectiveness and feasibility of navigation for mobile robot by this method are tested via the simulations.