摘要
智能移动机器人是机器人研究领域的重要方向,是当前机器人领域中最活跃的研究主题之一。在分析了智能移动机器人避障常用传感器的基础上,提出了基于多超声传感器的移动机器人的超声避障系统。介绍了超声避障系统的模糊控制规则和非模糊化,并给出了实验结果。实验结果表明,模糊控制机理和策略易于接受和理解,便于应用开发,模糊避障算法对环境有很大的适应性,机器人在不同的环境条件下实现了避障。
One of the most active research topics is intelligent mobile robot which is the important direction of robot research. With analyzing many sensors used in intelligent mobile robot＇s obstacle avoidance, a fuzzy algorithm of obstacle avoidance with multi-ultrasonic sensor is proposed. The obstacle avoidance is detailed based on ultrasonic sensor＇s rule of fuzzy control and courses of defuzzification, and the experimental result is produced. The experimental result indicates that fuzzy control mechanism and tactics is easy to being accepted and suitable, the application of fuzzy algorithm has the very largely compatibility to the environment, and the robot＇s avoidance can be achieved under the different environment.
出处
《计算机工程与设计》
CSCD
北大核心
2007年第15期3659-3660,3748,共3页
Computer Engineering and Design
关键词
智能移动机器人
超声传感器
避障
模糊控制
非模糊化
intelligent mobile robot
ultrasonic sensor
obstacle avoidance
fuzzy control
defuzzification
