摘要
针对移动机器人的避障问题,以AS-R移动机器人为实验平台,提出了一种改进人工势场和模糊逻辑相结合的路径规划方法。对于未知障碍物环境采用人工势场法进行实时路径规划,对于动态近距离动态障碍物采用模糊逻辑方法引导机器人做出避障行为。为了有效将2种方法结合,根据传感器信息对于人工势场方法引入转角的信任度,机器人运行方向由上述2种方法输出的偏转角和信任度综合确定。该方法使移动机器人在避障中具有较好灵活性和鲁棒性。仿真实验验证了机器人避障方法的有效性。
Aiming at the problem of obstacle avoidance for mobile robot,AS-R mobile robot is used as experimental platform.A novel approach based on improved artificial potential field and fuzzy control is presented.For unknown and static environment,artificial potential field is adopted for real-time path planning.Aiming at dynamic obstacle nearby,the method of fuzzy logic is used for collision avoidance.As for potential field method trusting degree rotating angle is introduced,depending on sonars information.Robot＇s moving orientation is determined by both two methods and the trusting degree.Combining these two methods,high performance of robust and flexible for obstacle avoidance can be achieved.Simulation experiments and AS-R robot obstacle avoidance experiments verify the effectiveness of the proposed approach.
出处
《传感器与微系统》
CSCD
北大核心
2011年第5期16-20,共5页
Transducer and Microsystem Technologies
基金
浙江省自然科学基金资助项目(Y1100378)
浙江省教育厅科研计划资助项目(Y200907747)
关键词
移动机器人
人工势场
模糊逻辑
动态路径规划
避障
mobile robot
artificial potential field
fuzzy logic
dynamic path planning
obstacle avoidance
