移动机器人目标捕捉运动规划研究  

Motion Planning of Mobile Robot Target Acquisition

作　　者：付宜利[1] 何威[1] 李寒[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001

出　　处：《微计算机信息》2008年第17期255-257,276,共4页Control & Automation

基　　金：国家自然科学基金资助项目(60675051)

摘　　要：提出一种应用于移动机器人在动态环境下捕捉目标的运动规划方法。该方法基于模糊控制理论,利用所要捕捉目标的位置与速度信息,依据人类的驾驶经验制定模糊规则。通过移动机器人转向角与速度的控制,实现了对动态运动目标的捕捉。仿真实验验证了该算法的有效性。This paper proposed a path planning method, which was based on the theory of fuzzy logic control and applied to the task of mobile robot target acquisition in dynamic environments. This method made use of the information of velocity and position of the target. According to the driving experience of human, the rules of fuzzy logic control were established. Through changing the steering angle and velocity of robot, this method could solve the problem of mobile robot target acquisition. The results of simulation showed its effectiveness.

关 键 词：移动机器人 模糊控制 捕捉 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]