| 基于模糊逻辑的自主移动机器人实时滚动路径规划及控制 |
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| 引用本文： | 崔茂源,田彦涛,赵中祺. 基于模糊逻辑的自主移动机器人实时滚动路径规划及控制[J]. 吉林大学学报(工学版), 1999, 29(1): 42 |
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| 作者姓名： | 崔茂源 田彦涛 赵中祺 |
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| 作者单位： | 吉林工业大学信息科学与工程学院，长春五五研究所 |
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| 基金项目： | 中国科学院机器人学开放实验室资助 |
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| 摘 要： | 针对动态不确定环境下自主移动机器人路径规划和运动控制这一工程实际问题，提出一种简化的实验参考系统结构模型。在此基础上，借鉴预测控制的基本原理，运用模糊逻辑推理方法解决了自主移动机器人导航和避障问题，实现了自主移动机器人实时滚动路径规划和控制，仿真结果表明了算法的有效性。
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| 关 键 词： | 自主移动机器人 路径规划 运动控制 预测控制 模糊控制 |
| 修稿时间： | 1998-09-05 |
Real Time Rolling Path Planning and Control for AMR Based on Fuzzy Logic |
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| Cui Maoyuan Tian Yantao College of Information Sciences and Engineering,Jilin University of Technology Robotics Lab SIA.Chinese Academy of Sciences,Shenyang Zhao Zhongqi. Real Time Rolling Path Planning and Control for AMR Based on Fuzzy Logic[J]. Journal of Jilin University:Eng and Technol Ed, 1999, 29(1): 42 |
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| Authors: | Cui Maoyuan Tian Yantao College of Information Sciences Engineering Jilin University of Technology Robotics Lab SIA.Chinese Academy of Sciences Shenyang Zhao Zhongqi |
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| Affiliation: | Changchun The Fiftyth fifth Research Institute |
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| Abstract: | This paper presents a simplified experiment reference system model in accordance with path planning and motion control for AMR in dynamic uncertain environment,in which navigation and avoidance are solved by fuzzy logic where the basic theory of predictive control is used for reference as a result of rolling path planning.The effectiveness of the algorithms is demonstrated by simulation examples. |
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| Keywords: | autonomous mobile robot path planning motion control predictive control fuzzy logic control |
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