三级缓冲区结合模糊逻辑的DWA及其应用  

DWA With Three-level Buffer and Fuzzy Logic and Its Application

作　　者：郑维[1] 刘德垚 王洪斌[1] 郝若兰 ZHENG Wei;LIU De-yao;WANG Hong-bin;HAO Ruo-lan(Schoool of Electric Engineering,Yanshan University,Qinhuangdao 066000,China)

机构地区：[1]燕山大学电气工程学院,河北秦皇岛066000

出　　处：《小型微型计算机系统》2022年第8期1615-1624,共10页Journal of Chinese Computer Systems

基　　金：河北省自然科学基金项目(F2021203083,F2021203104)资助;河北省教育厅高等学校科技计划自然科学基金项目(QN2021138)资助.

摘　　要：针对未知的动态复杂场景,本文提出三级缓冲区结合模糊逻辑的动态窗口法,解决了动态窗口法在该场景下进行机器人轨迹规划这一具有挑战性的问题.本文通过修改并添加原始动态窗口法的子功能,增强了复杂环境中机器人行驶至目标位置的能力;利用激光雷达传感器结合三级缓冲区构建不同属性的缓冲区因子,为机器人设置不同等级的安全区域;同时,考虑有效性和速度之间的平衡及移动机器人的尺寸,进行模糊控制器设计,控制机器人自身姿态和速度.详细的仿真对比结果证明了所提出的算法在未知且复杂的动态场景中进行轨迹规划具有更好的避障效果.Aiming at the unknown dynamic and complex scene,a dynamic window algorithm with three-level buffer and fuzzy logic is proposed in this paper,which solves the challenging problem of dynamic window algorithm for robot trajectory planning in this scene.The sub-functions of the original dynamic window algorithm is modified and added,the robot′s ability to travel to the target position in a complex environment is enhanced in this paper;the lidar sensor combined with the three-level buffer area is used to construct buffer factors of different attributes to set different levels of safety for the robot Area;At the same time,the balance between effectiveness and speed and the size of the mobile robot is considered,a fuzzy controller is designed to control the attitude and speed of the robot.The detailed simulation comparison results prove that the proposed algorithm has better obstacle avoidance effect for trajectory planning in unknown and complex dynamic scenes.

关 键 词：未知的动态复杂场景 动态窗口法 三级缓冲区 模糊控制器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]