标准可加模糊行为系统在避障控制中的应用

Application of Standard Additive Fuzzy Behavior System in Obstacle Avoidance Control

为了提高月球车控制系统的可靠性和稳定性,保证其运动规划过程的安全性,并针对月球车运行于非结构化环境中,难以用精确的数学模型描述等特点,将行为控制与模糊控制相结合,提出了月球车运动规划的标准可加模糊行为系统,基于凸和的基本性质,对该系统的有界性、连续性、可导性进行了证明;然后设计了权重系数调整控制器,将趋向目标行为以及避障行为以凸组合的方式进行行为融合,并进行了仿真,仿真结果证明了凸组合方法的有效性以及分析结果的正确性。

Firstly a Standard Additive Fuzzy Behavior System is presented, boundedness, continuity and differentiability of the system is proved based on the fundamental nature of convex. Then the weights controller is designed to fuse the goal tracking and obstacle avoidance behavior with convex combination. Simulation results show that the convex combination method is effective and the results of the analysis is correct.