摘要
该文提出一种新型多组并列式超声避障方案,首先基于蛇形机器人本体运动原理,采用Serpenoid曲线对蛇形的蜿蜒运动进行分析,结合蛇形运动特点设计多组超声测距模块进行并列式测距,引入模糊推理算法,采用高斯型隶属度函数进行描述,并采用Mamdani模糊推理方法进行模糊推理,最终采用面积重心法对计算得到的模糊向量进行反模糊化。通过对算法进行实测,可以验证所采用的算法是可行的。
A new multi group parallel ultrasonic obstacle avoidance scheme is proposed.Firstly,based on the principle of snake like robot body motion,serpenoid curve is used to analyze the snake like motion.Combined with the characteristics of snake like motion,multi group ultrasonic ranging modules are designed for parallel ranging.Fuzzy inference algorithm is introduced and Gaussian membership function is used to describe the distance,The Mamdani fuzzy reasoning method is used for fuzzy reasoning,and finally the area barycenter method is used to reverse fuzzify the fuzzy vector.The experimental results show that the algorithm is feasible.
作者
王进达
牛飞
张万里
Wang Jin-da;Niu Fei;Zhang Wan-li(Luoyang Normal University School of Physics and Electronic Information,Henan Luoyang 471934)
出处
《电子质量》
2021年第8期63-67,共5页
Electronics Quality
