【摘要】 研究移动机器人优化导航问题,由于系统在动态未知、复杂环境下,研究自主移动机器人导航问题,首先将行为优先级控制与模糊逻辑控制相结合提出了四种基本的行为控制方案:目标查找、避障碍物、目标跟踪与解锁,并采用模糊控制器来实现。然后针对’U’型和’V’型障碍物运行解锁问题,提出了行走路径记忆方法,通过构建虚拟墙来避免机器人再次走入此类区域而产生死循环,并进行仿真。仿真结果表明,所提出的控制策略可有效地运用于复杂和未知环境下自主移动机器人的导航,且具有较好的鲁棒性和适应性。更多还原

【Abstract】 The research in order to solve the independent mobile robot navigation problem in which dynamic unknown,complex environment.Firstly,this paper develops a Fuzzy logic algorithm to solve the robot motion path problem by incorporating fuzzy logic control and priority-based behavior control.Four basic behaviors for mobile robot navigation are proposed,which is goal seeking,obstacle avoidance,tracking,and deadlock disarming,and which are realized through a fuzzy logic controller.Secondly,in particular for ’U’ or ’V’ shaped obstacles,where mobile robot may be trapped,a Path Remembering Behavior is prospered to protect robots from re-entering such areas through the Creation of Virtual Wall for not producing dead circulation.Finally,The Mat lab simulation results show that the proposed approach is effective in navigating mobile robots in a complex and unknown circumstance,and it has good robustness and adaptability to the unknown circumstance.更多还原