| 基于模糊控制器的机器人路径规划研究 |
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| 引用本文： | 黄炳强,曹广益,费燕琼,李建华.基于模糊控制器的机器人路径规划研究[J].测控技术,2007,26(1):30-32. |
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| 作者姓名： | 黄炳强 曹广益 费燕琼 李建华 |
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| 作者单位： | 上海交通大学,自动化系,上海,200030;上海交通大学,机器人研究所,上海,200030;华东理工大学,计算机系,上海,200237 |
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| 摘 要： | 针对复杂环境下移动机器人路径规划实际问题,提出了一种基于行为的移动机器人控制体系结构,设计了一种基于模糊控制器的移动机器人实时路径规划算法,为移动机器人在未知环境中的导航提出了一种新的思路.仿真结果表明,移动机器人能够克服环境中的不确定性,可靠地完成复杂任务,该算法有计算量小,效率高,鲁棒性好等优点.
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| 关 键 词： | 移动机器人 路径规划 模糊控制 避碰 |
| 文章编号： | 1000-8829(2007)01-0030-03 |
| 修稿时间： | 01 4 2006 12:00AM |
Study on the Path Planning of Mobile Robot Based on the Fuzzy Controller |
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| HUANG Bing-qiang,CAO Guang-yi,FEI Yan-qiong,LI Jian-hua.Study on the Path Planning of Mobile Robot Based on the Fuzzy Controller[J].Measurement & Control Technology,2007,26(1):30-32. |
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| Authors: | HUANG Bing-qiang CAO Guang-yi FEI Yan-qiong LI Jian-hua |
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| Affiliation: | 1. Department of Automation, Shanghai Jiao Tong University, Shanghai 200030, China; 2. Institute of Robot, Shanghai Jiao Tong University, Shanghai 200030, China; 3. Department of Computer, East China University of Science and Technology, Shanghai 200237, China |
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| Abstract: | To the problem of the mobile robot path planning in a complicated environment,the mobile robot behavior-based hierarchical structure is presented,and the problems of the robot obstacle avoidance and navigation with the method of fuzzy inference are solved.The simulation results show that the mobile robot could overcome the environment uncertainty and finish the task successfully.This method also has the advantage of less computational work,higher efficiency and better robust. |
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| Keywords: | mobile robot path planning fuzzy control obstacle avoidance |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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