| 结合模糊逻辑和改进人工势场的局部路径规划 |
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| 引用本文： | 蒋纬洋,刘满禄.结合模糊逻辑和改进人工势场的局部路径规划[J].西南科技大学学报,2012,27(2):39-42,52. |
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| 作者姓名： | 蒋纬洋 刘满禄 |
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| 作者单位： | 1. 西南科技大学工程技术中心智能机器人创新实践班
2. 西南科技大学工程技术中心,四川绵阳,621010 |
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| 基金项目： | 四川省科技计划项目，绵阳市科技计划项目 |
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| 摘 要： | 针对人工势场法的死点问题和较为复杂的局部障碍物环境，采取模糊逻辑与改进的人工势场相结合的方式，提出了一种结合模糊控制器与人工势场算法的并行避障处理结构。依据静态目标点位置与多路超声波传感器返回的障碍物距离信息，实行稳定环境的人工势场路径规划与危险环境的模糊控制，使移动机器人能够到达预定目标点。在Mobotsim仿真软件中验证了算法的可行性与有效性。
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| 关 键 词： | 模糊逻辑 人工势场 并行避障 移动机器人 路径规划 |
Local Navigation Based on Improved Artificial Potential Field Approach Combining Fuzzy Logic |
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| JIANG Wei-yang,LIU Man-lu.Local Navigation Based on Improved Artificial Potential Field Approach Combining Fuzzy Logic[J].Journal of Southwest University of Science and Technology,2012,27(2):39-42,52. |
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| Authors: | JIANG Wei-yang LIU Man-lu |
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| Institution: | 1.Innovation Practice Class,Engineering Technology Center,Southwest University of Science and Technology, Mianyang 621010,Sichuan,China;2.Engineering Technology Center, Southwest University of Science and Technology,Mianyang 621010,Sichuan,China) |
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| Abstract: | Aiming at the dead spots for artificial potential field method,and the more complex problems of local obstacles environment,taking fuzzy logic and improved artificial potential field’s combination method,the parallel processing structure was presented,combining a fuzzy controller with artificial potential.Based on the static target position and obstacle distance information from ultrasonic sensors,the path planning of the artificial potential field in a stable environment and the fuzzy controller in a dangerous environment are realized,and the mobile robot can arrive at the scheduled target.And the Mobotsim simulation software verifies the feasibility and effectiveness of the algorithm. |
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| Keywords: | Fuzzy logic Artificial potential field Parallel Obstacle Avoidance Mobile Robot Path Planning |
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