摘要
采用基于模糊逻辑的路径规划方法,提出了一种在未知环境中基于模糊逻辑行为融合路径规划方法,设计了移动机器人路径规划方案,并介绍了该控制器的结构组成和设计过程。将模糊逻辑控制和行为控制相结合,构建了一个由避障行为、目标导向行为、模糊行为监督器组成的基于模糊逻辑行为控制的路径规划器。仿真研究和实验结果表明了避障方法的有效性和可行性。
A behavior fusion path planning method for mobile robot is developed based on fuzzy logic. The operating principle, constitution and the implementation method of the fuzzy controller are also developed. The path planner combined fuzzy logic control and behavior control which is based on fuzzy logic control and composed of obstacle avoidance, target steering and fuzzy behavior supervisor. Simulation studies and experiments show that the control system prevent the robot from obstacle collision.
出处
《计算机工程与设计》
CSCD
北大核心
2009年第3期660-663,共4页
Computer Engineering and Design
关键词
移动机器人
路径规划
避障
目标导向
模糊逻辑
mobile robot
path planning
obstacle avoidance
target steering
fuzzy logic
