移动机器人智能导航系统的研究与设计

A research and design of mobile robot′s intelligence guidance system

智能导航系统能完成机器人自主路径规划、行为控制及执行多种任务.结合人类的经验及模糊控制理论对四轮移动机器人进行了智能导航的研究.机器人采用超声波探测的方法,用12个超声波传感器感知机器人前方180°范围内障碍物的距离和方向信息.利用模糊控制决策理论实现对机器人智能导航的控制,通过在机器人上的应用验证了该导航系统的可行性和有效性.

An intelligence guidance system can help a robot choice the right way, control and execute the behavior, and many other functions. According to humanity＇s experience and the fuzzy control fundamental, an intelligence navigation of the four wheels mobile robot is designed. Twelve ultrasonic sensors were used to survey the environment round the four wheels mobile robot, to get the distance and direction information of obstacles, which is 180 degrees in front of the four wheels mobile robot. Then, the intelligence navigation control of the robot is realized through the theory of fuzzy control, which is proved reliable and effective through using in the four wheels mobile robot.