摘要
针对动态不确定环境下自主移动机器人路径规划和运动控制这一工程实际问题，提出一种简化的实验参考系统结构模型。在此基础上，借鉴预测控制的基本原理，运用模糊逻辑推理方法解决了自主移动机器人导航和避障问题，实现了自主移动机器人实时滚动路径规划和控制，仿真结果表明了算法的有效性。
This paper presents a simplified experiment reference system model in accordance with path planning and motion control for AMR in dynamic uncertain environment,in which navigation and avoidance are solved by fuzzy logic where the basic theory of predictive control is used for reference as a result of rolling path planning.The effectiveness of the algorithms is demonstrated by simulation examples.
基金
中国科学院机器人学开放实验室资助
关键词
自主移动机器人
路径规划
模糊逻辑
机器人
autonomous mobile robot,path planning,motion control,predictive control,fuzzy logic control
