一种基于模糊逻辑算法的移动机器人仿生气味源空间定位方法

Fuzzy logic algorithm of mobile robot bionic odor source spatial orientation

针对机器人嗅觉功能的研究,提出一种基于模糊逻辑算法的机器人仿生气味源空间定位方法。算法通过模拟生物动态刺激反应的择优行为控制机器人搜寻气味源,相比于需获得气体绝对浓度值和风向、风速信息的算法,该算法只需通过检测浓度变化率便可使机器人对气味源进行自主定位。针对机器人实际所处环境设计一个模糊控制器并确定模糊控制器的输入、输出变量以及各自的语言值,根据相对于机器人不同位置的浓度变化率大小指定相应的模糊控制规则。MATLAB仿真结果表明设计提出的模糊逻辑算法对机器人仿生气味源空间定位具有很好的适用性与鲁棒性,能使机器人更快、更准确的搜索到气味源。

Research for the robot olfactory function, we propose a method of robot bionic odor source spatial orientation based on fuzzy logic algorithm. The algorithm controls the robot search odor source by simulating the preferential behavior of bio-dynamic stimulation. Compared to some algorithm need to obtain some information like absolute concentration value, wind direction and wind speed, the algorithm can make the robot autonomously locate odor sources by detecting the concentration change ratio. To design a fuzzy controller and to determine the fuzzy input and output variables and their linguistic values ？？controllers according to the real environment where the robot in, and develop the appropriate fuzzy control rules based on the concentration change ratio in different positions. MATLAB simulation results show that the proposed fuzzy logic algorithm has good applicability and robustness to the robot bionic odor source spatial orientation, it can make the robot search to the odor source more faster and accurate.