基于改进模糊算法的移动机器人避障

doi:10.11772/j.issn.1001-9081.2015.08.2256

计算机应用 ›› 2015, Vol. 35 ›› Issue (8): 2256-2260.DOI: 10.11772/j.issn.1001-9081.2015.08.2256

基于改进模糊算法的移动机器人避障

彭玉青, 李木, 张媛媛

河北工业大学计算机科学与软件学院, 天津 300401

收稿日期:2015-03-18 修回日期:2015-05-20 出版日期:2015-08-10 发布日期:2015-08-14
通讯作者: 李木(1989-),男,河北石家庄人,硕士研究生,主要研究方向:智能机器人,sweetlm@163.com
作者简介:彭玉青(1969-),女,湖南永顺人,教授,CCF会员,主要研究方向:智能信息处理、计算机视觉; 张媛媛(1992-),女,河北保定人,主要研究方向为:机器人遥操作、虚拟现实。
基金资助:
天津市自然科学基金资助项目(13JCYBJC15400)。

Mobile robot obstacle avoidance based on improved fuzzy algorithm

PENG Yuqing, LI Mu, ZHANG Yuanyuan

School of Computer Science and Engineering, Hebei University of Technology, Tianjin 300401, China

Received:2015-03-18 Revised:2015-05-20 Online:2015-08-10 Published:2015-08-14

摘要/Abstract

摘要：

为了提高移动机器人在连续障碍物环境下的避障性能,提出了一种具有速度反馈的模糊避障算法。移动机器人利用超声传感器感知周围环境,在模糊控制的基础上通过障碍物分布情况调整自身速度,进而引入优雅降级并把改进的模糊避障融入其中,增强了移动机器人的鲁棒性。实验结果表明,该方法能通过与环境交互调整机器人移动速度,控制机器人成功避障并优化避障路径,具有良好的有效性。

关键词: 移动机器人, 避障, 模糊控制, 超声波测距, 优雅降级

Abstract:

In order to improve the performance of obstacle avoidance for mobile robots in continuous obstacle environment, a fuzzy algorithm of obstacle avoidance with speed feedback was proposed. Ultrasonic sensors were utilized to perceive the surroundings, and based on fuzzy control, the mobile robot adjusted its speed according to the distribution of obstacles. Then the graceful degradation was introduced combined with the improved fuzzy obstacle avoidance to enhance the robustness of the mobile robot. The experimental results show that the method can adjust the speed through interaction with the environment, control the robot in a collision-free way and optimize the obstacle avoidance path. Simultaneously, the method shows good effectiveness.

Key words: mobile robot, obstacle avoidance, fuzzy control, ultrasonic ranging, graceful degradation

中图分类号:

TP24

彭玉青, 李木, 张媛媛. 基于改进模糊算法的移动机器人避障[J]. 计算机应用, 2015, 35(8): 2256-2260.

PENG Yuqing, LI Mu, ZHANG Yuanyuan. Mobile robot obstacle avoidance based on improved fuzzy algorithm[J]. Journal of Computer Applications, 2015, 35(8): 2256-2260.

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基于改进模糊算法的移动机器人避障

Mobile robot obstacle avoidance based on improved fuzzy algorithm

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