基于分层模糊控制的机器人局部路径规划研究

Robot Local Path Planning Based on Hierarchical Fuzzy Control

论述了未知环境下移动机器人的局部路径规划。对模糊控制器,如果输入量较多导致模糊规则数目太大,则采用分层模糊控制器。详细介绍了分层模糊控制器的设计,包括输入输出变量的模糊化以及隶属函数的确定、模糊规则的设计、推理方法的设计以及解模糊化的方法,并给出了局部路径规划的仿真结果。仿真结果验证了分层模糊控制器采用较少的规则能够实时快速地规划出一条无碰撞路径。

The local path planning for mobile robot in unknown environment was discussed.The design of hierarchical fuzzy controller was introduced in detail,including the input and output variables fuzzy,determination of membership function,design of fuzzy rule and reasoning method,defuzzification method,the simulation result of local path planning was put forward.The simulation results indicated that the hierarchical fuzzy controller could plan a collision free path with fewer rules.