基于双层模糊逻辑的多机器人路径规划与避碰  

Multi-robot Path Planning and Collision Avoidance Based on Double Fuzzy Logic

作　　者：高翔[1] 苏青[1] 

机构地区：[1]南京邮电大学自动化学院,江苏南京210046

出　　处：《计算机技术与发展》2014年第11期79-82,共4页Computer Technology and Development

基　　金：国家自然科学基金资助项目(61104216);江苏省自然科学基金(BK2012832);江苏省高校自然科学基金(12KJB510015);南京邮电大学人才引进基金(NY211020;NY211067)

摘　　要：针对无通信情况下的多机器人系统在未知动态环境下的路径规划问题,设计了基于双层模糊逻辑的多机器人路径规划与动态避碰系统。方向模糊控制器充分考虑了障碍物的距离信息和目标的角度信息,转化为机器人与障碍物的碰撞可能性,从而输出转向角度实现机器人的动态避障;速度模糊控制器将障碍物的距离信息作为输入,将速度因子作为输出,提高了多机器人路径规划与动态避碰系统的效率和鲁棒性。在Pioneer3-DX机器人实体上验证了该系统的可行性。A multi-robot path planning and dynamic collision avoidance system based on dual-layer fuzzy controller is proposed for path planning of non-communication multi-robot system in an unknown dynamic environment. Direction fuzzy controller has fully considered the obstacle distance and target angle information into the possibility of a collision of a robot and an obstacle,outputing the steering angle to realize the dynamic obstacle avoidance for robot. Speed fuzzy controller taking obstacle distance information as an input,the speed fac-tor as output,improve the efficiency and robustness of multi-robot path planning and collision avoidance system. The effectiveness of the method is verified in the Pioneer3-DX robot entity environment.

关 键 词：多机器人系统 路径规划 方向模糊控制 速度模糊控制 

分 类 号：R318[医药卫生—生物医学工程] TP212.3[医药卫生—基础医学]