【摘要】 非结构化环境的深海自主车辆绕障策略算法制约车辆行走作业性能。利用测障声纳获取了障碍物信息,集中研究了面向非结构化环境绕障的模糊控制器结构、模糊控制算法。仿真结果表明:自主设计的模糊控制器在算法的控制下可使采矿车按规划路径实现绕障行走,控制效果显著。更多还原

【Abstract】 The obstacle avoidance algorithm of seabed autonomous vehicle under unstructured environment can influence the functional ability of the vehicle.This research thoroughly studies the structure of fuzzy controller under unstructured environment and the algorithm by applying the information about the obstacles which is acquired by the obstacle detection sonar.The simulation result shows that the self-designed fuzzy controller can help the mining vehicle to avoid the obstacles on the planned paths under the control of algorithm and achieve significant control.更多还原