基于模糊逻辑的移动机器人导航共享控制研究

Research on shared control of mobile robot navigation based on fuzzy logic

在非结构化环境、障碍物密集和突发情况中,移动机器人易出现徘徊抖动现象,难以实现完全自主导航,而人在回路中切换控制权和固定控制权重的共享控制方法也不具普适性。针对上述问题,考虑移动机器人的速度信息和与障碍物的距离信息等条件因素,融入操作者的决策与控制能力,提出一种基于模糊逻辑的共享控制方法,以避障系数和安全系数为输入,共享控制权重为输出,动态融合操作者控制指令和移动机器人自主控制指令,实现对移动机器人的高精度导航控制。实验结果表明:相较于自主导航,基于模糊逻辑的共享控制方法,使移动机器人的轨迹长度相对减少24%、运行时间相对缩短8%,具有较好的有效性。

In unstructured environment,dense obstacles and sudden situations,mobile robots are prone to wandering and jitter,and it is difficult to achieve complete autonomous navigation.The shared control method in which humans switch control rights and fixed control weights in the loop is also not universal.To solve the above problems,a shared control method based on fuzzy logic is proposed,taking the speed information of the mobile robot and the distance information from the obstacles into consideration and integrating the decision-making and control ability of the operator.Taking obstacle avoidance coefficient and safety coefficient as inputs and shared control weights as outputs,it dynamically fuses operator control commands and autonomous control commands of the mobile robot to realize high-precision navigation control of the mobile robot.The experimental results of ground mobile robot show that compared with autonomous navigation,the fuzzy logic based shared control method can reduce the trajectory length of mobile robot by 24%and the running time by 8%,which has good effectiveness.