关于机器人导航目标点搜索路径模糊控制  

Target Search Path Fuzzy Control of Robot Navigation

作　　者：徐悦[1] 林志贤[1] 姚剑敏[1] 郭太良[1] 

机构地区：[1]福州大学物理与信息工程学院,福建福州350002

出　　处：《计算机仿真》2016年第10期300-304,共5页Computer Simulation

基　　金：国家科技部863重大专项(2013AA030601);福建省科技重大专项(2014HZ0003-1);福建省资助省属高校专项课题(JK2014002)

摘　　要：研究复杂环境下机器人的安全路径规划问题。为了解决机器人模糊控制路径规划中存在的局部陷阱问题,提出一种关于机器人导航目标点搜索路径模糊控制方法。借鉴滚动窗思想建立局部环境模型,提出一种目标点深度搜索方法,以全局目标点为引导,通过在滚动窗内设置探测点,快速确定与机器人当前位置存在可行路径方向,引入合理的虚拟局部目标点,指引模糊控制完成局部路径规划。随着滚动窗和虚拟局部目标点的不断推进,完成全局路径规划。仿真结果验证了方法的可行性和有效性,在复杂环境下机器人能以合理的路径脱离陷阱区域到达目标。Research the safety of robot path planning problem under complex environment. To solve the problems of local minima in fuzzy control robot path planning,a target search path fuzzy control of robot navigation method was proposed. A local environment model was established using the rolling window. A target depth search approach was applied to resolve the local minimal problems by setting sub- goals to guide fuzzy control completing the local path planning. The probe points were installed to quickly determine the feasible path direction of the current position and robot in rolling window which is guided by global target,and to find the sub- goals. With the advancement of rolling window and sub- goals,the global path planning was obtained. Simulation results certify the feasibility and validity of the method,and the robot can walk out of the trap at a reasonable path in complex environment.

关 键 词：机器人 路径规划 目标点深度搜索 模糊控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]