移动机器人的超声模糊避障算法

Application of Fuzzy Algorlth to a Sonar-Based Obstacle Avoidance Mobile Robot

超声传感器是移动机器人避障常用的传感器,但存在幻影的干扰。该文提出多个超声传感器的模糊避障算法,该算法把多个超声传感器分为左右两组,如果障碍物在右侧,机器人就向左转,反之机器人向右转。实验表明,该文提出的算法可以实现机器人的安全避障。

Obstacle avoidance by ultrasonic sensor is a normal instrument, but phantom target may influence robot.The paper proposes a fuzzy algorith of obstacle avoidance with multi- ultrasonic sensor.It divides ultrasonic sensors into left or right.If obstacle is in the right side,robot turns left,on the contrary,it turns right.Experiments indicate that the algorith proposed in the paper can achieve safe obstacle avoidance of robot.