基于实际意义隶属函数的机器人避障模糊算法  

A Fuzzy Algorithm about Mobile Robot Evades Obstacles Based on a Fuzzy Membership Function with Actual Content

作　　者：张寒松[1] 贾瑞清[1] 王廷军[1] 曹艳丽[1] 孙瑾[1] 

机构地区：[1]中国矿业大学机电与信息工程学院

出　　处：《农业机械学报》2006年第3期84-86,34,共4页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(项目编号:50475094)

摘　　要：阐述了在不确定环境下,机器人通过在探测过程中采用基于实际物理意义的隶属函数的模糊算法来躲避障碍物的方法。该方法根据机器人和障碍物的位置、速度、运动角度等信息来构造一具有实际意义的隶属函数,使该模糊算法对于静止障碍物和运动障碍物都能很好地躲避。计算机仿真试验的结果验证了该方法的有效性和实用性。This paper introduces an evading obstacles method of mobile robot which is in an uncertain environment, and the mobile robot can evade the obstacles detected by means of fuzzy control algorithm, which adopts fuzzy membership function with real physical content. In this method, all obstacles detected are considered as mobile obstacles, according to the information of mobile robot and obstacles, such as position, velocity and moving direction, a membership function with real physical content can be constructed, so this method can correctly evade the static and mobile obstacles. And the emulation experiments show that this method is valid and practicable.

关 键 词：机器人 避障 模糊算法 隶属函数 

分 类 号：TP183[自动化与计算机技术—控制理论与控制工程] TP242[自动化与计算机技术—控制科学与工程]