摘要
针对不同复杂环境下采摘机器人的自主避障问题,提出了一种基于模糊控制篮球比赛系统的避障实现方法.该方法将篮球比赛的三阶段控制思想引入模糊控制系统的隶属度函表示中,通过分阶段块状处理提升系统响应的实时性,在此基础上构建了采摘机器人的模糊控制避障系统,对障碍物外围区域路径实现了全局优化.实验结果显示,该方法明显提升了避障系统的全局优化能力和实时性.
In order to solve the problem of autonomous obstacle avoidance of picking robot in different complicated environments,a method of obstacle avoidance based on fuzzy control basketball match system is proposed.In this method,the three stage control idea of basketball game is introduced into the membership function of fuzzy control system,and the real-time response of the system is improved by staged block processing.On this basis,the fuzzy control obstacle avoidance system of the picking robot is constructed,and the global optimization of the road strength of the obstacle is realized.Experimental results show that the proposed method can improve the global optimization ability and real-time performance of the obstacle avoidance system.
作者
许龙成
XU Long-cheng(Ports Work Department , Jiangsu of Finance Career Technical College, Huai＇an 223003 ,J iangsu,China)
出处
《内蒙古师范大学学报（自然科学汉文版）》
CAS
2018年第1期44-48,共5页
Journal of Inner Mongolia Normal University(Natural Science Edition)
基金
江苏省"青蓝工程"优秀青年骨干教师资助项目
关键词
采摘机器人
避障系统
模糊控制
篮球比赛
隶属度
picking robot
obstacle avoidance system
fuzzy control
basketball match
membership degree
