分层模糊控制的移动机器人路径规划  

The Path Planning of Mobile Robots Based on Hierarchical Fuzzy Systems

作　　者：任伟建[1] 王飞[1] 吕微[1] 

机构地区：[1]大庆石油学院电气信息工程学院,大庆市163318

出　　处：《科学技术与工程》2010年第10期2317-2321,共5页Science Technology and Engineering

摘　　要：针对移动机器人的路径规划中,应用模糊控制算法时模糊控制变量过多以及响应速度较慢等问题,简化模糊控制器与移动机器人本身的关系,设计出一种简单的双层模糊控制器实现算法,第一层模糊控制器以距离和方位角为输入量,转角为输出量;第二层以距离和转角为输入量,步长为输出量。解决了一般模糊控制器中"规则库爆炸"的问题,提高移动机器人路径规划算法的效率。经MATLAB仿真,证明算法有效性。Considering the problems that too many fuzzy control varieties and too slow responding velocity in the path planning research of mobile robots with the fuzzy control algorithm,a simple realization algorithm of double layers fuzzy controller is proposed through simplifying the relation of the fuzzy controller and the mobile robot.For the first fuzzy controller;the inputs are distance and location-angle,the output is the change-angle;For the second fuzzy controller,the inputs are distance and change-angle,and the output is step.The problem ＂rules bomb＂ existing in the general fuzzy controllers has been solved,and it improved the efficiency of mobile robots path planning algorithm.Finally,the algorithm has been proved with efficiency through simulated in MATLAB.

关 键 词：双层模糊控制 路径规划 MATLAB仿真 机器人 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]