| 基于模糊控制信息融合方法的机器人导航系统 |
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| 引用本文： | 薛艳茹
,郑冰
,郝兴贞
,李谦.基于模糊控制信息融合方法的机器人导航系统[J].微计算机信息,2005(22). |
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| 作者姓名： | 薛艳茹 郑冰 郝兴贞 李谦 |
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| 作者单位： | 中国海洋大学信息科学与工程学院电子工程系 2003级研究生266071 |
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| 基金项目： | 山东省自然科学基金资助(Y2002G18) |
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| 摘 要： | 本文提出了一种基于模糊控制和信息融合的自主式移动机器人导航系统的实现方法。采用表格查询的模糊控制方法,对导航系统中的多传感器信息进行融合,实现了机器人的路径跟踪和自动纠偏的功能。该系统具有实现简单、响应快、鲁棒性好等特点,仿真实验和实际运行结果表明了该系统在具有引导线的环境中能有效实现自主式移动机器人的导航。
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| 关 键 词： | 自主式移动机器人 导航系统 信息融合 模糊控制 |
Navigation system of robot based on the fuzzy control and information fusion |
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| Xue,YanruZheng,Bing Hao,Xingzhen Li,Qian.Navigation system of robot based on the fuzzy control and information fusion[J].Control & Automation,2005(22). |
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| Authors: | Xue YanruZheng Bing Hao Xingzhen Li Qian |
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| Affiliation: | (2003 postgraduate,Electronic Engineering Depart-ment of Information Science and Engineering Col-lege,Ocean university of China. 266071) Xue,YanruZheng,Bing Hao,Xingzhen Li,Qian |
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| Abstract: | In this paper, the navigation system of an autonomousmobile robot based on the fuzzy control and information fusion isproposed. The navigation system implements the fusion of multi-sensor information with the adoption of fuzzy control by tablesearching, based on which the robot can achieve track- followingand automatic deviation - rectifying. Both the simulation andpractical experiments show that the system can achieve efficientand robust navigation for autonomous mobile robot in the envi-ronment with guide lines. |
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| Keywords: | autonomous mobile robot navigation system in-formation fusion fuzzy control |
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