基于SAM模糊行为控制的月球车运动规划方法  

Lunar Rover Motion Planning and Based on SAM Fuzzy Behavior Control

作　　者：李晖[1] 董国成[1] 居鹤华[1] 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100124

出　　处：《计算机测量与控制》2013年第11期2975-2978,共4页Computer Measurement &Control

基　　金：国家自然科学基金(60975065);国家863项目(2008AA0085)

摘　　要：针对障碍环境下月球车的运动规划问题,提出了一种基于标准可加性模糊行为控制的仿射性系统规划方法;利用标准可加性模糊系统理论和凸组合理论对该系统的基本规律进行分析证明,并提出了基于凸组合的行为融合策略,通过调节权重系数来控制月球车行为的融合,以实现高级行为,进而适应月球表面的非结构化环境;最后通过仿真实验证实该规划方法的有效性和正确性。A novel motion planning approach is presented for lunar rovers in environment with obstacles. The affine system motion plan and control problem is based on standard addition fuzzy behavior controller. The standard addition fuzzy system theory and convex combina tion theory are applied to analyze and prove the basic rules of the proposed system. And a novel behavior fusion Strategy based on behavior fusion is presented. The behavior fusion control of Lunar Rover is implemented through regulating weight coefficient to obtain the advanced behaviors and to adapt to the unstructured lunar environment. The simulation and experiment results confirm the reliability and validity of the planning.

关 键 词：运动规划 SAM 行为控制 凸组合 行为融合 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]