基于模糊控制器的移动机器人路径规划仿真

目前移动机器人系统已经被广泛研究,机器人的避碰控制策略也多种多样.主要借鉴模糊控制的思想来解决移动机器人路径规划中的避碰问题,实现机器人在障碍物环境中快速、准确的找到一条无碰撞的路径,最终达到目标点.首先介绍了模糊控制的理论基础,然后对路径规划算法进行了推导,在总结经验建立模糊规则的基础上,运用模糊推理,构造出一张实践效果较好的控制响应表,仿真结果表明了该算法应用于移动机器人路径规划具有正确性、实用性和智能性等,该方法计算量小,运算速度快,提高了机器人控制的速度.

Simulation of Path Planning for Mobile Robot Based on Fuzzy Controller

With the rapid development of autonomous robots system, the strategies of collision avoidance are various. The collision avoidance problem in path planning of mobile robot is inspired by fuzzy control concept. This method is applied to the motion decision making of robots to implement rapid and accurate motion following a non-collision path. First, the theory of fuzzy control theory was introduced followed by the deduction of a path planning algorithm. Then based on the experiences of building fuzzy rules a...