一种新颖的基于二分法和模糊控制的移动机器人避障系统  

A New Mobile Robot Obstacle Avoidance System Based on Dichotomy and Fuzzy Control

作　　者：金兆远 胡凌燕[1] 熊鹏文[1] 彭杰[1] 吴承哲 JIN Zhaoyuan;HU Lingyan;XIONG Pengwen;PENG Jie;WU Chengzhe(School of Information Engineering,Nanchang University,Nanchang 330031,China)

机构地区：[1]南昌大学信息工程学院,江西南昌330031

出　　处：《传感技术学报》2018年第9期1436-1443,共8页Chinese Journal of Sensors and Actuators

基　　金：国家自然科学基金项目(61563035;81501560;61662044;61663027);江西省杰出青年人才(20171BCB23008);远航人才项目

摘　　要：针对超声波传感器波束角窄导致移动机器人存在避障盲区的现状,研究了一种新颖的超声波避障系统。该系统采用6个超声波传感器构成特别设计的超声波阵列,实现无盲区检测中大型移动机器人前方及左右两侧障碍物的位置,充分保障运行安全性;同时在避障算法上,采用二分法和模糊控制相结合的控制算法,简化了模糊控制规则使系统具有很好的智能性和实时性,实现了移动机器人选择最佳避障路径并对新增的动态障碍物进行避障。将此避障控制系统应用于移动机器人上,实验结果表明:在未知环境下,实现对移动机器人周边的无盲区检测,并且能够实时根据周围障碍物的动态情况选择最佳避障路径,避免了其他避障控制算法中易出现的误避障和二次避障的情况。A new ultrasonic obstacle avoidance system is proposed in this paper in order to avoid the blind detection of the mobile robot due to the narrow beam angle of the ultrasonic sensor.The system uses six ultrasonic sensors to build a special ultrasonic array to locate the obstacles in front and two sides,ensuring the safety of robots.Meanwhile,the fuzzy control rules are simplified by the combination of dichotomy and fuzzy control in the algorithm,making the system more intelligent and real-time,so the mobile robot can select the optimum path and avoid the moving obstacles.The experiment with this obstacle avoidance system shows that the robot can detect the surroundings without any blind area in the unknown environment,and can choose the optimum path in the dynamic environment,preventing the misjudgments and secondary obstacle avoidance appeared in other control algorithms.

关 键 词：移动机器人 避障 超声波阵列 模糊控制 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]