| 基于双层模糊逻辑的多机器人路径规划与避碰 |
| |
| 引用本文： | 高翔,苏青.基于双层模糊逻辑的多机器人路径规划与避碰[J].计算机技术与发展,2014(11):79-82. |
| |
| 作者姓名： | 高翔 苏青 |
| |
| 作者单位： | 南京邮电大学 自动化学院,江苏 南京,210046 |
| |
| 基金项目： | 国家自然科学基金资助项目，江苏省自然科学基金，江苏省高校自然科学基金，南京邮电大学人才引进基金 |
| |
| 摘 要： | 针对无通信情况下的多机器人系统在未知动态环境下的路径规划问题，设计了基于双层模糊逻辑的多机器人路径规划与动态避碰系统。方向模糊控制器充分考虑了障碍物的距离信息和目标的角度信息，转化为机器人与障碍物的碰撞可能性，从而输出转向角度实现机器人的动态避障；速度模糊控制器将障碍物的距离信息作为输入，将速度因子作为输出，提高了多机器人路径规划与动态避碰系统的效率和鲁棒性。在Pioneer3-DX机器人实体上验证了该系统的可行性。
|
| 关 键 词： | 多机器人系统 路径规划 方向模糊控制 速度模糊控制 |
Multi-robot Path Planning and Collision Avoidance Based on Double Fuzzy Logic |
| |
| GAO Xiang,SU Qing.Multi-robot Path Planning and Collision Avoidance Based on Double Fuzzy Logic[J].Computer Technology and Development,2014(11):79-82. |
| |
| Authors: | GAO Xiang SU Qing |
| |
| Affiliation: | (College of Automation, Nanjing University of Posts and Telecommunications, Nanjing 210046, China) |
| |
| Abstract: | A multi-robot path planning and dynamic collision avoidance system based on dual-layer fuzzy controller is proposed for path planning of non-communication multi-robot system in an unknown dynamic environment. Direction fuzzy controller has fully considered the obstacle distance and target angle information into the possibility of a collision of a robot and an obstacle,outputing the steering angle to realize the dynamic obstacle avoidance for robot. Speed fuzzy controller taking obstacle distance information as an input,the speed fac-tor as output,improve the efficiency and robustness of multi-robot path planning and collision avoidance system. The effectiveness of the method is verified in the Pioneer3-DX robot entity environment. |
| |
| Keywords: | multi-robot system path planning direction fuzzy control speed fuzzy control |
| 本文献已被 维普 万方数据 等数据库收录！ |
