地面移动机器人路径避障控制策略研究  

Research on Control Strategy of Ground Mobile Robot’s Path Avoidance

作　　者：孙建召[1] 赵进超 SUN Jian-zhao;ZHAO Jin-chao(College of Computer Engineering,He’nan Vocational College of Economics and Trade,He’nan Zhengzhou 450000,China;School of Computer and Communication Engineering,Zhengzhou University of Light Industry,He’nan Zhengzhou 450000,China)

机构地区：[1]河南经贸职业学院计算机工程学院,河南郑州450000 [2]郑州轻工业大学计算机与通信工程学院,河南郑州450000

出　　处：《机械设计与制造》2024年第10期324-330,338,共8页Machinery Design & Manufacture

基　　金：河南省高等学校重点科研项目—动态非结构环境下机器人协作围捕控制方法(18B520014)。

摘　　要：针对地面移动机器人在复杂工作环境的避障要求,分别设计了模糊控制器算法和模糊神经网络算法。首先在在地面移动机器人上的安装多传感器检测系统,在此基础上设计了自适应加权多传感器信息融合模型,将融合算法的结果作为避障控制算法的输入。分别在模糊神经网络算法和模糊控制器基础上,真实的模拟出地面移动机器人避障路径,结果表明模糊神经网络算法下的地面移动机器人避障运动路径更平滑,地面移动机器人路径与障碍物的距离更大。最后通过地面移动机器人实验平台上的避障实验,验证了模糊神经网络避障算法的优越性和可靠性。Aiming at the obstacle avoidance requirements of the ground mobile robot in the complex working environment,the fuzzy controller algorithm and the fuzzy neural network algorithm are designed respectively.Firstly,a multi-sensor de⁃tection system is installed on the ground mobile robot.On this basis,an adaptive weighted multi-sensor information fusion model is designed,and the result of the fusion algorithm is used as the input of the obstacle avoidance control algorithm.On the basis of fuzzy neural network algorithm and fuzzy controller,the real obstacle avoidance path of the ground mobile robot is simulated.The results show that the obstacle avoidance path of the ground mobile robot under the fuzzy neural network al⁃gorithm is smoother.The distance is greater.Finally,through the obstacle avoidance experiment on the ground mobile robot experimental platform,the superiority and reliability of the fuzzy neural network obstacle avoidance algorithm are verified.

关 键 词：多传感器信息融合 地面移动机器人 避障路径 模糊神经网络 

分 类 号：TH16[机械工程—机械制造及自动化]