摘要
针对现有的移动机器人不能很好地适应存在未知障碍的楼宇环境,结合阶梯攀爬机器人的运动特点,设计了两个模糊控制器——避障控制器和阶梯识别控制器.利用模糊控制器输出权值,协调控制量,实现阶梯攀爬机器人在未知楼宇环境中的自主避障与翻越阶梯.通过仿真及实验验证,该机器人在模糊控制器与权值协调的控制下,能较好地适应未知楼宇环境.
Aimed at the inability of currently available mobile robots to adapt well the environment of unknown obstacles in building, two fuzzy controllers are designed according to the kinetic characteristics of stair-climbing robot, obstacle avoidance controller and stair recognition controller. The output weighting of fuzzy controller is utilized to coordinate control amount, so that the autonomous obstacle avoidance and stair tumble-over of the stair-climbing robot in unknown environment of building is achieved. It is verified by simulation and experiment that this robot will be able well to adapt to the unknown environment under the control of fuzzy controller and weighting coordination.
出处
《兰州理工大学学报》
CAS
北大核心
2017年第4期93-97,共5页
Journal of Lanzhou University of Technology
基金
兰州市科技局创新项目(2014-2-25)
关键词
移动机器人
避障
阶梯攀爬
模糊控制
mobile robot
obstacle avoidance
stair-climbing
fuzzy control
