基于模糊逻辑的移动机器人避障研究  

Research on Obstacle Avoidance for Mobile Robot Based on Fuzzy Logic

作　　者：刘祖兵[1] 袁亮[1] 蒋伟[1] 

机构地区：[1]新疆大学机械工程学院,新疆乌鲁木齐830047

出　　处：《机械设计与制造》2017年第3期101-104,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金(61262059;31460248);新疆优秀青年科技创新人才培养(2013721016);自治区科技支疆项目(201591102)

摘　　要：为了提高移动机器人在未知障碍物环境下的避障性能,使用超声波感器,结合模糊逻辑对移动机器人避障进行了研究。针对传统模糊逻辑避障规则较多,运算量大以及在较大的转弯处不能成功避障的缺点,给不同距离的障碍物赋予不同的权值,添加有效障碍物范围搜索框,使得移动机器人避障效率得到提升,在通过较大的转弯处能够成功避障。通过Lab VIEW仿真实验证明,该方法能够使移动机器人成功避障。与传统的模糊逻辑避障算法相比,改进后的避障算法避障成功率提升45%~70%。In order to improve the performance of obstacle avoidance of mobile robot in an unknown obstacle environment, ultrasonic sensors and fuzzy logic are used to research the obstacle avoidance for mobile robot. In view of the disadvantages of traditional fuzzy logic obstacle avoidance,such as large number of rules, large amount of computation, and robots can＇t be successful to avoid obstacles through the large curve, different weights are given to different distance and the effective obstacles searching box is added to the range of obstacle searching area, so that the efficiency of obstacle avoidance for mobile robot is improved and the mobile robot can successfully avoid obstacles through the large turning Through the LabVIEW simulation experiments, the proposed method can make the mobile robot successfully avoid obstacles. Compared with the traditional fuzzy logic obstacle avoidance algorithm, the success rate of the improved obstacle avoidance algorithm is improved by 45%-70%.

关 键 词：移动机器人 超声波传感器 模糊逻辑 避障 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]