| 多级模糊控制的月球车避障研究 |
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| 引用本文： | 彭丽媛,居鹤华.多级模糊控制的月球车避障研究[J].计算机与应用化学,2011,28(7). |
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| 作者姓名： | 彭丽媛 居鹤华 |
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| 作者单位： | 北京工业大学电子信息与控制工程学院,北京,100124 |
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| 基金项目： | 国家自然科学基金资助项目(60975065) |
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| 摘 要： | 针对月球车这个MIMO系统,考虑其在未知环境下的避障问题,设计了一个多级模糊控制器,将输入变量分组设计子模糊作为第1级,再将第1级的输出作为第2级的输入变量设计第2级子模糊系统,最后控制系统输出平移速度和角速度。这样就避免了常规模糊系统中规则数目过大和设计繁琐问题,提高了整个控制系统的性能。该控制器模糊规则数量少,控制方法简单,响应速度快。最后的实验证明了该方法的有效性。
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| 关 键 词： | 月球车 避障 多级模糊控制器 模糊规则数 |
Obstacle avoidance of lunar rover based on hierarchical fuzzy control |
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| Peng Liyuan,Ju Hehua.Obstacle avoidance of lunar rover based on hierarchical fuzzy control[J].Computers and Applied Chemistry,2011,28(7). |
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| Authors: | Peng Liyuan Ju Hehua |
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| Affiliation: | Peng Liyuan and Ju Hehua~* (School of Electronic Information and Control Engineering,Beijing University of Technology,Beijing,100124,China) |
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| Abstract: | A Hierarchical fuzzy controller is designed for the obstacle avoidance of lunar rover,which is a MIMO system.considering it in unknown environment.The input variables were divided to design subsystem as the first stage fuzzy system.Then the outputs of the first stage were to be the inputs of the second stage fuzzy subsystem.Eventually,the output of the second stage controller gives translational velocity and angular velocity.Thus the controller avoids the problems,which the number of conventional fuzzy syst... |
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| Keywords: | lunar rover obstacle avoidance Hierarchical Fuzzy Controller fuzzy rules number |
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