移动机器人模糊控制系统避障研究  

Fuzzy Control of Obstacle Avoidance for Mobile Robot

作　　者：邱瑛[1] 富大伟[1] 王惠森[2] 李维[1] 

机构地区：[1]河北工业大学机械工程学院,天津300130 [2]天津航海仪器研究所,天津300131

出　　处：《河北工业大学学报》2007年第6期86-89,共4页Journal of Hebei University of Technology

摘　　要：对全区域覆盖的局部路径规划,采用了一种模糊控制算法,利用模糊控制算法自身所具有的鲁棒性和基于生物学上的感知-动作的行为相结合.对于移动机器人的避障系统提出了充分接近障碍策略,并对相关理论和实现方法作了深入的研究.Fuzzy control algorithm was adopted for full-area coverage local path planning in this paper. The robustness of fuzzy control algorithm was combined with the behavior of apperceive-action based on biology. As for the obstacle avoidance system of mobile robot, the strategy of fully approaching obstacle was given, also some relating theory and methods were studied in this article.

关 键 词：移动机器人 全区域覆盖 路径规划 避障 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]