模糊控制在移动机器人路径规划中的应用

摘要

针对移动机器人最优路径规划问题,设计了一种模糊智能控制方法.利用超声波传感器对机器人周围环境进行探测,得到关于障碍物和目标的信息.通过设计模糊控制器,把得到的障碍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地避障,并且解决了模糊算法存在的死锁问题,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人工势场法,具有有效性和可行性.%For optimal design of mobile robot path planning problem,a fuzzy control method is designed.Using ultrasonic sensors to detect the surrounding environment will get the information of obstacles and goals.Through the design of fuzzy controller,fuzzy the obstacle and target location information,the establishment of fuzzy rules and fuzzy solution can make the robot obstacle avoidance in the end,and fuzzy algorithm solve the existence of deadlock problem,to achieve mobile robot path planning.The simulation results show that the fuzzy algorithm is superior to the artificial potential field method,with the effectiveness and feasibility.