基于模糊控制的自主机器人路径规划策略研究

详细信息

A Fuzzy Control Based Path Planning Strategy for Autonomous Robot

Advanced Manufacturing Technology Center, Harbin Institute of Technology, Harbin 150001, China

摘要: 结合人类的经验及模糊控制理论研究移动机器人的局部路径规划问题，采用步长的转向角控制的方法模拟驾车减速的自然过程，同时采用了虚拟目标点的方法处理局部路径规划中经常出现的陷阱问题．仿真结果验证了所提方法的有效性和可行性．
- 移动机器人 /
- 模糊控制 /
- 陷阱摆脱 /
- 路径规划
Abstract: A local path planning method for mobile robot using both fuzzy control theory and human experience is introduced. A way of “turning angle controlled step” is used to simulate the natural driving speed down process of human beings. A method of “virtual target” is introduced to deal with the problem of local minimum, which often occurs in local path planning. The result of the simulation experiment proves the effectiveness and feasibility of the way introduced.
- mobile robot /
- fuzzy control /
- trap escaping /
- path planning

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