Study on obstacle avoidance of mobile robot based on fuzzy control

YANG Xiao-ju; ZHANG Wei; GAO Hong-wei; MI Hai-shan

doi:10.13873/J.1000-9787(2017)03-0051-04

Chinese

您当前的位置：

首页 >

文章列表页 >

Study on obstacle avoidance of mobile robot based on fuzzy control

更新时间：2025-09-11

- Study on obstacle avoidance of mobile robot based on fuzzy control
- Vol. 36, Issue 3, Pages: 51-54(2017)
- 作者机构：
  
  1. 中国科学院沈阳自动化研究所机器人学国家重点实验室
  2. 沈阳理工大学自动化与电气工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2017)03-0051-04
  CLC： TP242
- Published：2017
- 稿件说明：
移动端阅览
[1]杨小菊,张伟,高宏伟,米海山.基于模糊控制的移动机器人避障研究[J].传感器与微系统,2017,36(03):51-54.

YANG Xiao-ju, ZHANG Wei, GAO Hong-wei, et al. Study on obstacle avoidance of mobile robot based on fuzzy control[J]. 2017, 36(3): 51-54.
[1]杨小菊,张伟,高宏伟,米海山.基于模糊控制的移动机器人避障研究[J].传感器与微系统,2017,36(03):51-54. DOI： 10.13873/J.1000-9787(2017)03-0051-04.

YANG Xiao-ju, ZHANG Wei, GAO Hong-wei, et al. Study on obstacle avoidance of mobile robot based on fuzzy control[J]. 2017, 36(3): 51-54. DOI： 10.13873/J.1000-9787(2017)03-0051-04.

摘要

针对移动机器人在未知环境中的不确定性

利用Matlab构建了多传感器仿真试验移动平台

在Simulink中搭建移动机器人运动学模型

利用多传感器采集环境中的障碍物信息与目标物的方位角

设计了具有避障功能的模糊控制算法。通过模糊控制器控制移动机器人的左右轮速度实现机器人的转弯以及直走

根据机器人实时的角度反馈信息不断修正机器人的位姿以精确避障。仿真实验验证了该方法的可行性及有效性。

Abstract

Aimed at uncertainty of mobile robot in unknown environment

multi-sensor simulation test mobile platform is constructed with Matlab and the kinematics model for mobile robot is built in Simulink. The obstacle information of environment and azimuth angle of target object are collected by multi-sensor and the fuzzy control algorithm which has the function of obstacle avoidance is designed. Fuzzy controller controls wheel speed of mobile robot to turn around and go straight

according to the angle of real-time feedback information to modify the pose of the robot and then avoid obstacles precisely. The results of simulation experiment verify feasibility and effectiveness of this method.

关键词

Keywords

references

多传感器数据融合技术研究进展 [J]. 黄漫国,樊尚春,郑德智,邢维巍. 传感器与微系统 . 2010(03)

自主移动机器人混合式体系结构的设计与实现 [J]. 倪小雷,卜佳俊. 计算机测量与控制 . 2006(11)

ROV模糊控制导航方法 [J]. 赵晓光,戴炬,赵经纶. 信息与控制 . 2002(01)

基于遗传算法的多移动机器人协调路径规划 [J]. 孙树栋,林茂. 自动化学报 . 2000(05)

模糊控制技术[M]. 西安电子科技大学出版社 , 席爱民, 2008

Views

1137

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Obstacle avoidance of mobile robot based on multi-sensor information fusion

The algorithm of autonomous obstacle avoidance based on behavior fusion for mobile robot

Design of obstacle avoidance system of wheeled mobile robot based on ARM

Obstacle avoidance study for mobile robot in unknown environment

Obstacle avoidance study for mobile robot based on two-level sensor information fusion

Related Author

CHEN Shao-ru

CHEN Yi-mei

BAO Qing-yong1

LI Shun-ming1

SHEN Huan1

SHANG Wei-yan2

TAN Lianzi

ZHANG Liping

Related Institution

School of Electrical Engineering and Automation,Tianjin Polytechnic University

College of Energy and Power Engineering,Nanjing University of Aeronautics andAstronautics

School of Mechanical Engineering,Ningbo University of Technology

College of Eletronic and Electrical Engineering,Shanghai University of Engineering Science

School of Information Engineering,Zhejiang University of Technology

⁰