摘要
本文阐述了用模糊数学理论解决水下机器人局部规划问题的方法.首先针对机器人的运动特性,讨论了机器人的平移和转动规则;然后对声纳信息进行了模糊处理,在总结人的驾驶经验基础上,构成了机器人局部规划控制表;最后在微机上进行了避碰模拟,给出了仿真结果.
In this paper the method solving AUV local path plan by fuzzy mathematics is presented. First, for the moving character of AUV, the translation and rotation rules of AUV is discussed. And then sonar informations are disposed by fuzzy mathematics. On the basis of summarizing human driving experiences, the AUV local path plan control forms are constituted. At last, the avoidance simulation is carried out with computer so the simulative results are given.
出处
《机器人》
EI
CSCD
北大核心
1996年第3期158-162,共5页
Robot
