摘要
针对清洁机器人提出了一种全方位避障方案,在传统路面环境固体障碍物的基础上加入对路面液体障碍物的处理,设计模糊控制器,通过5组传感器检测到的环境信息,避开左前方、右前方、左右侧固体障碍物,清除路面液体障碍物,以达到全方位避障效果。经过MATALAB仿真实验,效果已得到验证。
To put forward a comprehensive cleaning robot obstacle avoidance scheme,on the basis of solid obstruction of traditional road environment to join liquid obstacles on the road,this paper designed the fuzzy controller,through environmental information detected five set of sensors,to avoid this solid obstruction of the front-left,front-right,left and right side,remove liquid barrier,and achieve the comprehensive effect of obstacle avoidance. The effect has been verified through MATALAB simulation experiment.
出处
《机床与液压》
北大核心
2014年第18期92-95,共4页
Machine Tool & Hydraulics
关键词
清洁机器人
模糊控制
避障
Cleaning robot
Fuzzy control
Obstacle avoidance
