基于模糊规则的深海底作业机器车不等分状态时间轨线规划

Deep seabed robot vehicle non-uniform trajectory planning based on fuzzy rule

针对深海底自行走履带作业机器车,给出了一种新的基于模糊规则的不等分状态时间轨线规划方案.为适应深海底环境的不确定性,采用基于模糊规则的不等分状态时间轨线规划改进等分贝塞尔曲线运动规划,控制机器车按照既定路线行走.在不平整地面的试验结果验证了算法的有效性.

A non-uniform trajectory planning based on fuzzy rule for deep seabed mining robot vehicle is presented. To adapt the uncertainty of deep seabed environment, a non-uniform trajectory planning based on fuzzy rule is used to improve usual Bessel curve trajectory planning. A experiment result on nonsmooth ground verified our algorithm.