| 基于模糊控制器的移动机器人路径规划仿真 |
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| 引用本文： | 温素芳,朱齐丹,张小仿.基于模糊控制器的移动机器人路径规划仿真[J].应用科技,2005,32(4):31-33. |
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| 作者姓名： | 温素芳 朱齐丹 张小仿 |
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| 作者单位： | 哈尔滨工程大学,自动化学院,黑龙江,哈尔滨,150001 |
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| 摘 要： | 借鉴模糊控制的思想来解决移动机器人路径规划中的避碰问题，介绍了模糊控制的理论基础，对路径规划算法进行了推导，在总结经验建立模糊规则的基础上，运用模糊推理，构造出一张实践效果较好的控制响应表．仿真结果表明，该算法应用于移动机器人路径规划具有正确性、实用性和智能性等，该方法计算量小，运算速度快，提高了机器人控制的速度．
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| 关 键 词： | 移动机器人 路径规划 避碰 模糊控制器 |
| 文章编号： | 1009-671X(2005)04-0031-03 |
| 修稿时间： | 2004年6月23日 |
Simulation of the path planning of mobile robot based on the fuzzy controller |
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| WEN Su-fang,ZHU Qi-dan,ZHANG Xiao-fang.Simulation of the path planning of mobile robot based on the fuzzy controller[J].Applied Science and Technology,2005,32(4):31-33. |
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| Authors: | WEN Su-fang ZHU Qi-dan ZHANG Xiao-fang |
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| Abstract: | The collision avoidance problem in path planning of mobile robot is inspired from fuzzy control concept. The theory of fuzzy control is introduced. The path planning algorithm is derived. Based on the experiences of fuzzy rules and fuzzy inference, a reasonable and applicable control response table is constructed. The simulation result shows that this algorithm has validity,practicability and intelligence with less computational work and faster computational speed as well as improving the control speed of the robot. |
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