基于几何和模糊控制合成算法的小型移动机器人局部路径规划

Integration of the geometry algorithm with the fuzzy control algorithm for local path planning of small mobile robots

文章针对机器人特殊的使用场合和要求,提出了将几何算法和模糊控制算法相结合来解决避障问题。在机器人远离地面障碍物运动时,采用几何算法;当逐渐接近障碍物时,采用模糊控制算法修正。2种算法的结合,避免了单独使用其中一种算法的缺陷,使局部路径规划的速度大大提高,并且降低了对控制硬件的高要求。仿真和实验表明,这种新算法具有正确性、实时性和鲁棒性。

To meet special requirements in the application of robots, this paper proposes a novel algorithm which combines the geometry algorithm with the fuzzy control algorithm to overcome the problems of obstacle avoidance. When the robot is far away from the obstacle, the geometry algorithm is used for local path planning, and when the robot gradually gets close to the obstacle, the desired path is updated with the fuzzy control algorithm, thus avoiding the drawbacks in the individual algorithms in the case that they are used separately, largely increasing the speed of local path planning, and decreasing the demand for high-level control hardware. Simulation and experimental results show that this new algorithm is feasible and robust and real-time performance can be achieved with it.