基于模糊算法的水下机器人路径规划研究

Research on Path Planning of Underwater Robot Based on Fuzzy Algorithm

针对水下机器人的工作环境的复杂性与不确定性,为了提高自主式水下机器人与外部环境交互及自主航行的能力,结合视线导航原理与模糊控制算法,提出一种未知环境下水下机器人的局部路径规划策略,可实现机器人的实时避障功能。利用测距声呐、短基线系统对环境进行探测,得到一定范围内的障碍物与目标信息,通过模糊控制器实时调整水下机器人的运动偏转角度,有效地避开障碍物,达到预定目标点。最后通过MATLAB进行仿真,构建一个仿真实验平台,交互式设置障碍物的数量、大小、形状、位置等初始信息,机器人运用该算法在多障碍物、不同路障环境下,都能较好地实现机器人避障,验证了算法的有效性。

Aiming at the complexity and uncertainty of working environments of underwater robot,in order to improve the capaci-ty of interacting with the external environment and autonomous navigation for autonomous underwater robot,a local path planning strate-gies of underwater robot combined line-of-sight navigation principles with fuzzy control algorithm in an unknown environment was pro-posed,and real-time obstacle avoidance was achieved by the robot. Obstacles and target information within a certain range was obtained by using the ranging sonar and short baseline system to detect the environment. The deflection angle of the underwater robot was real-time adjusted by adopting a fuzzy controller,and then the obstacles could be effectively avoided to reach the predetermined target point by the robot. Finally,a simulation experimental platform based on simulation by MATLAB was built. The number,sizes,shapes,and locations of obstacles were interactively set. The robot can avoid multiple obstacles in different road environments by adopting the fuzzy algorithm,which verifies effectiveness of the algorithm.