基于碰撞危险度的移动机器人避障模糊控制  

Obstacle-avoidance fuzzy control of a mobile robot dased on risk-degree of collision

作　　者：谢敬[1] 傅卫平[1] 杨静[1] 

机构地区：[1]西安理工大学机械与精密仪器学院,陕西西安710048

出　　处：《组合机床与自动化加工技术》2003年第2期23-25,共3页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：在基于模糊逻辑的移动机器人局部路径规划基础上 ,引入了由移动机器人与障碍物之间的距离和相对方位确定的碰撞危险度 [1] (Risk -degreeofCollision)。与仅用距离作为输入变量相比 ,把危险度作为模糊逻辑的输入变量可以为移动机器人下一步的决策控制提供更加准确可靠的依据。最后 ,给出了移动机器人在有静止和运动障碍物的环境中的避障仿真结果 。This paper introduces risk-degree of collision[1] on the basis of local path planning of mobile robot based on fuzzy logic control, which is defined using distance and relative orientation between the robot and obstacles. Compared with traditional methods using the distances as the inputs of the fuzzy logic controller, risk-degree of collision as the inputs provides more corrective and reliable bases for the next decision and control of the mobile robot, At last, the obstacle-avoidance simulation is carried out in the environment with immobile and mobile obstacles, the result indicates that the method is feasible.

关 键 词：碰撞危险度 模糊控制 避障 移动机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] O231[自动化与计算机技术—控制科学与工程]