| 用模糊逻辑法对移动机器人进行路径规划的研究 |
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| 引用本文： | 苏治宝,陆际联.用模糊逻辑法对移动机器人进行路径规划的研究[J].北京理工大学学报,2003,23(3):290-293. |
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| 作者姓名： | 苏治宝 陆际联 |
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| 作者单位： | 北京理工大学,机械与车辆工程学院,北京,100081 |
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| 基金项目： | 国家部委预研基金;7030; |
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| 摘 要： | 分析模糊逻辑方法在移动机器人路径规划中存在的问题，建立了移动机器人的运动学模型，提出一种基于行为的移动机器人体系结构，设计了一种用于在未知、非结构化环境中规划机器人移动路径的自组织模糊控制器，模糊规则的制定符合贪心算法的思想．提出了解决“对称无法确定”问题的方法，给出了判断机器人是否进入死锁状态、解除死锁以及判断死锁是否解除的新方法，并在多种环境中用仿真实验验证了这些方法的正确性和合理性．
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| 关 键 词： | 路径规划 自组织模糊控制器 贪心算法 对称无法确定 死锁 |
| 文章编号： | 1001-0645(2003)03-0290-04 |
| 收稿时间： | 2002/8/27 0:00:00 |
A Study on the Path Planning of Mobile Robot with the Fuzzy Logic Method |
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| SU Zhi bao and LU Ji lian.A Study on the Path Planning of Mobile Robot with the Fuzzy Logic Method[J].Journal of Beijing Institute of Technology(Natural Science Edition),2003,23(3):290-293. |
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| Authors: | SU Zhi bao and LU Ji lian |
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| Institution: | School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing100081, China;School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing100081, China |
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| Abstract: | Existing problems on path planning based on fuzzy logic for mobile robots are analyzed. The kinematic model of a mobile robot is built up, and a self organized fuzzy controller applied to path planning in unknown, unstructured environment is designed. Establishment of fuzzy rules accords well with the key idea of greedy algorithm. Some new methods are presented to solve such issues like "symmetric indecision", deadlock estimation, freedom from deadlock state and the judgement whether deadlock is eliminated or not. Simulations in several kinds of environments verify the validity and reasonability of these methods. |
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| Keywords: | path planning self-organized fuzzy controller greedy algorithm symmetric indecision deadlock |
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