摘要
探测规划是实现移动机器人自主构建未知环境地图的核心问题之一,本文介绍了探测中候选视点选择的模糊评价方法。该方法将专家经验编成模糊规则,然后将来自传感器的实时信号模糊化,将模糊化后的信号作为模糊规则的输入,完成模糊推理,选定移动机器人下一步的探测视点。采用模糊评价的方法综合评估候选视点,过程简单,符合人的思维决策过程,提高了探测的效率。
Exploration planning is one of the core issues of the mobile robot building a map of an unknown environment.This paper describes a fuzzy evaluation method of exploration candidate viewpoint selection.In this method,the experience of experts is compiled into the fuzzy rule.Fuzzification of the real-time signal from the sensors is the input of the fuzzy rules.The exploration candidate viewpoint is selected based on fuzzy reasoning.The procedure of this method is simple and matching with the decision-making process of mankind,which improves the exploration efficiency.
出处
《湖北第二师范学院学报》
2013年第2期64-66,共3页
Journal of Hubei University of Education
关键词
轮式机器人
模糊评判
探测
mobile robot
fuzzy evaluation
exploration
