摘要
针对智能小车所运行的外部环境多样化,难以人为地提出一套统一的模糊避障规则。提出了一种自提取模糊控制规则的小车模糊避障策略。采用多个超声波联合测距感知周围环境信息,通过手动操控小车运动获取训练数据,利用DM算法从训练数据中挖掘模糊规则建立模糊控制器。通过模糊推理输出不同的左右侧车轮速度,从而控制小车转向来正确避障。通过实验验证了该方法的有效性和可行性。
In view of the diversification of the external environment of the smart car, it is difficult to put forward a set of unified fuzzy obstacle avoidance rules,and a fuzzy avoidance strategy of car with fuzzy control rules is proposed in this paper.The information of surrounding environment is perceived by multiple ultrasonic waves,and the training data are ob- tained by manual manipulation of the car.The fuzzy controller is established by using the DM algorithm to mine the fuzzy rules from the training data.Fuzzy reasoning is used to output different wheel speed on the left and right sides,so as to control the steering of the car to avoid obstacles correctly.
出处
《工业控制计算机》
2018年第11期54-56,共3页
Industrial Control Computer
基金
2017宁夏自然科学基金(NZ17261)
关键词
智能小车
避障
模糊控制
模糊规则
smart car
obstacle avoidance
fuzzy control
fuzzy rules
