摘要
传统的清洁机器人利用碰撞传感器感知近距离障碍,实时性差,且碰撞会降低机器人的使用寿命;目标导航避障的作用是机器人向目标点运动的同时保证机器人不触碰到障碍,传统的控制算法,需要对被控对象建立完整的数学模型,无法对距离合理量化,虽然避障效果较好,但无法保证清扫面积。针对以上问题,提出了一种基于红外测距的模糊控制避障算法,通过红外传感器实时获取距离机器人最近障碍物的方向及距离信息,将其模糊化后输入模糊控制器,经模糊推理,得到机器人左右轮的控制信息控制机器人运动。Matlab仿真及实验结果表明,上述方法比传统控制算法精度高、稳定性好,满足机器人向目标点移动过程中合理躲避较近障碍的要求,同时保证了机器人的清扫面积。
The conventional sweeping robots detect obstacles by impact sensors, but this method is of low efficien- cy and poor real - time performance. Besides, mechanical damage can reduce the life of the robot. The function of target obstacle avoidance is to move the robot to the target point to ensure that the robot does not touch the obstacle. In the paper, a fuzzy control algorithm was proposed based on an infrared sensor that can sense obstacles in short dis- tance precisely,. The robot gets the direction and distance information of surrounding obstacle in real time by infrared sensors. Then, fuzzy theory was used to fuzzy the information. According to the inference rules, we obtained the out- puts, control information of the left and right wheels. The results of Matlab simulation and experiments show that compared with the traditional control algorithm, this method has the advantages of high precision and good stability, which can meet the requirement of avoiding the near obstacle in the process of moving to the target point, and guaran- tee the cleaning area of the robot.
作者
宋大雷
时永霞
孙玉桢
周丽芹
SONG Da - lei;SHI Yong - xia;SUN Yu - zhen;ZHOU Li - qin(College of Engineering, Ocean University of China, Qingdao Shandong 266100, China)
出处
《计算机仿真》
北大核心
2018年第4期301-305,共5页
Computer Simulation
关键词
清洁机器人
红外测距
模糊控制
Sweeping robot
Infrared ranging
Fuzzy control
