基于碰撞危险度的移动机器人避障模糊控制

在基于模糊逻辑的移动机器人局部路径规划基础上，引入了由移动机器人与障碍物之间的距离和相对方位确定的磁撞危险度1]（Risk-degree of Collision)。与仅用距离作为输入变量相比，把危险度作为模糊逻辑的输入变量可以有移动机器人下一步的决策控制提供更加准确可靠的依据。最后，给出院 移动机器人在有静止和运动障碍物的环境中的避障仿真结果，表明该方法是可行的。

Obstacle-avoidance fuzzy control of a mobile robot dased on risk-degree of collision

This paper introduces risk-degree of collision1] on the basis of local path planning of mobile robot based on fuzzy logic control, which is defined using distance and relative orientation between the robot and obstacles. Compared with traditional methods using the distances as the inputs of the fuzzy logic controller, risk-degree of collision as the inputs provides more corrective and reliable bases for the next decision and control of the mobile robot, At last, the obstacle-avoidance simulation is carried out in the environment with immobile and mobile obstacles, the result indicates that the method is feasible.