结合模糊逻辑和改进人工势场的局部路径规划

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。%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 meth- od, 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 plan- ning of the artificial potential field in a stable environment and the fuzzy controller in a dangerous environ- ment 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.