摘要
为了解决移动机器人最优路径规划问题,提出一种基于模糊算法的移动机器人路径规划策略.利用超声波传感器对环境进行探测,得到关于障碍物和目标的信息.运用模糊推理将障碍位置信息与目标位置信息模糊化,建立模糊规则并解模糊最终使机器人可以很好的避障,从而实现了移动机器人的路径规划.仿真实验结果表明了模糊算法优于势场法和A*算法,具有较高的有效性和可行性.
To solve the optimal path planning problem of mobile robots,a novel mobile robot path planning strategy based on fuzzy algorithm has been proposed.The environment situation has been detected using ultrasonic sensors to obtain the information about obstacles and goals.Fuzzy the position informations about obstacles and goals through fuzzy reasoning and establish the fuzzy rules.By defuzzification could make the mobile robot avoid obstacles successfully and find the optimal path.The simulation experiment results have shown that the fuzzy algorithm mentioned above is superior to potential field method and the A＊ algorithm with more effectiveness and feasibility.
出处
《电子学报》
EI
CAS
CSCD
北大核心
2011年第4期971-974,980,共5页
Acta Electronica Sinica
基金
河北省教育厅自然科学研究计划(No.2009479)
关键词
移动机器人
模糊控制
解模糊
路径规划
mobile robot
fuzzy control
defuzzification
path planning
