一种分层模糊控制的灭火机器人火源寻踪

Fire Sources Search of Fire Extinguishing Robot of a Kind of Hierarchical Fuzzy Control

为了实现灭火机器人火源寻踪,同时避免单一模糊控制器中由于输入变量个数太多造成的模糊规则数量庞大,提出一种分层模糊控制的灭火机器人火源寻踪控制策略。首先设计一种分层模糊控制系统,底层模糊控制器将灭火机器人左边、前面以及右边的红外温度传感器和红外火焰传感器探测到的火源信息进行反馈式融合,得到关于火源方向的模糊向量;上层模糊控制器利用机器人上左方、前方以及右方的三个超声波传感器探测到的障碍物距离信息和火源方向进行火源寻踪。然后利用MATLAB进行两种火场情况下火源寻踪仿真分析,仿真结果表明灭火机器人在火源寻踪过程中排除了干扰热源的影响,避开障碍物后准确到达了火源点。

In order to realize the fire sources search of fire extinguishing robot, at the same time,to avoid too much input variables in a single fuzzy controller, resulting a large number of fuzzy rules, a control strategy of fire sources search of fire extinguishing robot based on hierarchical fuzzy control has been proposed. At first,a kind of hierarchical fuzzy control system was designed, the bottom fuzzy controller will use a feedback system to fuse the fire sources information , which detected by infrared temperature sensors and infrared flame sensors ,the two kind of sensors are installed on the left side, the front and the right side of fire extinguishing robot,then the fuzzy vector of fire sources direction is obtained; the upper fuzzy controller use the obstacles distance information and fire sources direction to search the fire sources, the obstacles distance are detected by three ultrasonic sensors installed on the left side, the front and the right side of robot. Then use MATLAB to simulate the fire sources search under two fire conditions, the simulation results show that during the fire sources search the fire extinguishing robot exclude the impact of interference hot sources, after avoiding obstacles arrived the fire sources point accurately.