轮履复合式探测车避障系统研究

Study on obstacle-avoidance system of exploration robot with wheel-tracks

为提高轮履复合式探测车转向避障能力,提出将超声波传感器安装于车身3个方向,并建立探测车避障环境模型,采用最小二乘法对3个方向的数据进行拟合处理。在基本避障行为和趋向目标点行为下设计相应的模糊控制方法对探测车转向避障行为进行控制。通过在VisuaC++下建立探测车仿真环境,在Matlab环境下建立的模糊控制器,并通过它们之间的接口进行数据交换来实时地显示探测车避障的整个过程。仿真结果表明:探测车在所设计的模糊规则库下能够灵活转向避障,并顺利到达目标点。

In order to improve the ability of obstacle avoiding of the wheel-tracked exploration robot, three ultrasonic sensors are fixed on the front and the sides of the bodywork. And the obstacle avoiding model is established. The least square method is used to fit the data from three directions. By basic obstacle avoiding behavior and target approaching behavior, corresponding fuzzy controlling method is designed. The simulation environment is established by VisuaC ＋ ＋, and the fuzzy controller is also established by Matlab, then by the interface between them, the obstacle avoiding course can be showed in real-time. The simulation results indicate that the wheel-tracked exploration robot can turn flexibly and avoid obstacles neatly, and it can also reach the target successfully.