| 基于单片机的移动机器人路径规划模糊控制器设计 |
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| 引用本文： | 丁易新. 基于单片机的移动机器人路径规划模糊控制器设计[J]. 自动化与仪器仪表, 2009, 0(1): 25-28 |
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| 作者姓名： | 丁易新 |
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| 作者单位： | 安徽工业大学电气信息学院,安徽马鞍山,243002 |
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| 摘 要： | 提出了一种基于模糊控制的移动机器人路径控制的设计思路，并给出了以ATmage128单片机为核心的控制系统硬件设计方案。系统预先设定目标，移动机器人根据超声波传感器感知周围环境，采用模糊控制进行路径规划，从而进行机器人自主移动到达目标。论文给出了模糊控制隶属度函数，介绍了模糊控制规则。同时介绍了显示电路、超声波测距电路、电机驱动电路、无线通信电路等硬件模块接口电路。
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| 关 键 词： | 路径规划 ATmega128 模糊控制 L298N nRF903 |
The design of fuzzy controller for mobile robot path planning based on microchip |
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| DING Yi-xin. The design of fuzzy controller for mobile robot path planning based on microchip[J]. Automation & Instrumentation, 2009, 0(1): 25-28 |
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| Authors: | DING Yi-xin |
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| Abstract: | This paper explains a design of fuzzy controller for mobile path planning and the project of the hardware of the system based on Atmega128 MCU. This system could set the route in advance. The mobile robot could know the environment with the help of ultrasonic sensor, and arrive the goal through the fuzzy control for mobile robot path planning. The membership function of fuzzy control is given. The role of fuzzy control is stated. The interface of LCD, the interface of ultrasonic sensor, the interface of motor drive and the interface of wireless communication is discussed. |
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| Keywords: | ATmega128 L298N nRF903 |
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