基于模糊控制的移动机器人自主避障  

Autonomous Obstacle Avoidance of Mobile Robot Based on Fuzzy Control

作　　者：王险峰 顾华宇 WANG Xianfeng;GU Huayu(College of Computer and Information Technology,Northeast Petroleum University,Daqing 163319)

机构地区：[1]东北石油大学计算机与信息技术学院,大庆163319

出　　处：《计算机与数字工程》2025年第2期451-454,492,共5页Computer & Digital Engineering

摘　　要：针对复杂环境下的移动机器人能自主识别并顺利躲避障碍物的问题,设计了一种融合多传感器信息的模糊控制算法。该模糊控制器的输入是由多种传感器获取的自身位姿和周围环境信息融合共同构成的,通过设定的模糊控制系统推理出移动机器人左右驱动轮的速度,从而能够控制移动机器人的运动。同时,在运动过程中,移动机器人能够实时感知到距离目标位置的偏差角度,并将偏差角度反馈给模糊控制器来保障移动机器人能顺利完成避障。利用Matlab仿真平台对所提的算法进行了测试。实验表明,该算法能使移动机器人成功避障并到达目标位置,具有良好的可行性和鲁棒性。Aiming at the problem that mobile robots can identify obstacles autonomously and avoid obstacles smoothly in com⁃plex environments,a fuzzy control algorithm based on multi-sensor information fusion is designed.The input of the fuzzy controller is composed of the fusion of the position and orientation obtained by various sensors and the information of the surrounding environ⁃ment.The speed of the left and right driving wheels of the mobile robot is deduced by the fuzzy control system,so as to control the movement of the mobile robot.At the same time,in the process of motion,the mobile robot can sense the deviation angle from the target position in real time,and feedback the deviation angle to the fuzzy controller to ensure that the mobile robot can successfully complete obstacle avoidance.The proposed algorithm is tested by Matlab simulation platform.Experiments show that the algorithm can make the mobile robot successfully avoid obstacles and reach the target position,with good feasibility and robustness.

关 键 词：移动机器人 自主避障 多传感器 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]