| 轮履复合式探测车避障系统研究 |
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| 引用本文： | 尚伟燕,李舜酩,占日新,辛江慧.轮履复合式探测车避障系统研究[J].传感器与微系统,2009,28(5):11-14. |
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| 作者姓名： | 尚伟燕 李舜酩 占日新 辛江慧 |
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| 作者单位： | 1. 南京航空航天大学,能源与动力学院,江苏,南京,210016
2. 中国直升机设计研究所,第六研究室,江西,景德镇,333001 |
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| 摘 要： | 为提高轮履复合式探测车转向避障能力，提出将超声波传感器安装于车身3个方向，并建立探测车避障环境模型，采用最小二乘法对3个方向的数据进行拟合处理。在基本避障行为和趋向目标点行为下设计相应的模糊控制方法对探测车转向避障行为进行控制。通过在VisuaC＋＋下建立探测车仿真环境，在Matlab环境下建立的模糊控制器，并通过它们之间的接口进行数据交换来实时地显示探测车避障的整个过程。仿真结果表明：探测车在所设计的模糊规则库下能够灵活转向避障，并顺利到达目标点。
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| 关 键 词： | 避障 超声波传感器 模糊控制方法 |
Study on obstacle-avoidance system of exploration robot with wheel-tracks |
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| SHANG Wei-yan,LI Shun-ming,ZHAN Ri-xin,XIN Jiang-hui.Study on obstacle-avoidance system of exploration robot with wheel-tracks[J].Transducer and Microsystem Technology,2009,28(5):11-14. |
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| Authors: | SHANG Wei-yan LI Shun-ming ZHAN Ri-xin XIN Jiang-hui |
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| Affiliation: | SHANG Wei-yan1,LI Shun-ming1,ZHAN Ri-xin2,XIN Jiang-hui(1.College of Energy , Power Engineering,Nanjing University of Aeronautics , Astronautics,Nanjing 210016,China,2.The Sixth Research Department,China Helicopter Research ,Development Institute,Jingdezhen 333001,China) |
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| Abstract: | In order to improve the ability of obstacle avoiding of the wheel-tracked exploration robot,three ultrasonic sensors are fixed on the front and the sides of the bodywork.And the obstacle avoiding model is established.The least square method is used to fit the data from three directions.By basic obstacle avoiding behavior and target approaching behavior,corresponding fuzzy controlling method is designed.The simulation environment is established by VisuaC++,and the fuzzy controller is also established by Matl... |
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| Keywords: | obstacle avoidance ultrasonic sensor fuzzy controlling method |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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