未知环境下移动机器人实时模糊路径规划*

作者：单建华 日期：2009-02-23/span> 浏览：4116 查看PDF文档

未知环境下移动机器人实时模糊路径规划*

单建华
(安徽工业大学 机械工程学院，安徽 马鞍山 243002)

摘要：针对机器人在未知环境下避障的要求，设计了一个结合目标点位置信息和局部障碍物信息的评价函数实时导航算法，使机器人可以在无碰撞的情况下较快地到达目标点。该算法以二维激光雷达作为探测环境的主要传感器，采用基于行为的控制策略及模糊控制器技术，通过添加自由出口提高其路径搜寻的效率，最后为了验证此模糊路径规划方法进行了仿真实验。仿真实验结果表明，该算法具有良好的效果，机器人可以有效避障，且轨迹平滑、实时性好。
关键词：路径规划；行为；模糊控制；激光雷达
中图分类号：TP242文献标识码：A文章编号：1001-4551(2009)01-0001-04

Fuzzy logicbased realtime path planning for mobile robot in unknown environment
SHAN Jianhua
(School of Mechanical Engineering, Anhui University of Technology, Maanshan 243002, China)
Abstract: An evaluation function was designed by integrating the target location information and the local obstacles information in unknown environment. With the function the robot could reach the target quickly without collision. The realtime algorithm which took twodimensional laser radar as its main sensor was behaviorbased algorithm, combined with fuzzy inference algorithm. The addition of the free access enhanced the efficiency of the search path. The simulation experiment shows that the algorithm has a good effect, the robot effective obstacle avoidance, smooth track and realtime good.
Key words: path planning; behavior; fuzzy control; laser radar
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