摘要
由于动态未知环境下自主移动机器人的导航具有较大困难,为实现自主机器人在动态未知环境下的无碰撞运行,文中将行为优先级控制与模糊逻辑控制相结合,提出4种基本行为控制策略:目标寻找、避障、跟踪和解锁。针对‘U’型和‘V’型障碍物运行解锁问题,提出了行走路径记忆方法,并通过构建虚拟墙来避免机器人再次走入此类区域。仿真实验表明,所提出的控制策略可有效地运用于复杂和未知环境下自主移动机器人的导航,且具有较好的鲁棒性和适应性。
As it is of high difficulty to implement the mobile robot navigation under dynamic unknown environment,in order to realize the non-collision movement of mobile robots under a dynamic unknown circumstance,this article develops a Fuzzy logic algorithm to solve the robot motion path problem by incorporating fuzzy logic control and priority-based behavior control.First,four basic behaviors for mobile robot navigation are proposed,such as goal seeking,obstacle avoidance,tracking,and deadlock disarming,which are implemented through a fuzzy logic controller.In particular for ＇U＇ type or ＇V＇ type shaped obstacles,where mobile robot may be trapped,a path remembering behavior is prospered to protect robots from re-entering such areas through the creation of virtual wall.The simulation results show that the proposed approach is effective in navigating mobile robots in a complex and unknown circumstance,and it has good robustness and adaptability to the unknown circumstance.
出处
《自动化与仪表》
北大核心
2011年第6期23-27,共5页
Automation & Instrumentation
基金
河南省教育厅自然科学研究计划资助项目(2010B510019)
关键词
自主机器人
导航
模糊控制
路径记忆
虚拟墙
mobile robot
navigation
fuzzy logic controller
path remembering
virtual wall
