| 基于超声模糊避障算法的移动机器人导航 |
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| 引用本文： | 钱夔,宋爱国,章华涛. 基于超声模糊避障算法的移动机器人导航[J]. 导航与控制, 2010, 9(3): 19-22 |
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| 作者姓名： | 钱夔 宋爱国 章华涛 |
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| 作者单位： | 东南大学仪器科学与工程学院,远程测控技术江苏省重点实验室,南京,210096;东南大学仪器科学与工程学院,远程测控技术江苏省重点实验室,南京,210096;东南大学仪器科学与工程学院,远程测控技术江苏省重点实验室,南京,210096 |
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| 摘 要： | 提出了一种在移动机器人导航中基于多超声传感器的模糊避障算法。利用MATLAB资源设计出模糊控制器,介绍了模糊规则与非模糊化,并给出一种在VC环境下直接调用模糊控制器的方法,改变了以往需要通过查表方式实现模糊控制的模式,大幅提高二次开发能力。在仿真和真实环境下,实验结果都表明该算法有效,能够实现不同环境中的避障任务。
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| 关 键 词： | 多超声传感器 避障 导航 模糊控制 MATLAB VC |
Mobile Robot Navigate Based on Application of Fuzzy Algorithm to a Sonar-based Obstacle Avoidance |
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| QIAN Kui,SONG Ai-guo and ZHANG Hua-tao. Mobile Robot Navigate Based on Application of Fuzzy Algorithm to a Sonar-based Obstacle Avoidance[J]. Navigation and Control, 2010, 9(3): 19-22 |
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| Authors: | QIAN Kui SONG Ai-guo ZHANG Hua-tao |
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| Affiliation: | School of Instrument Science and Engineering in Southeast University;School of Instrument Science and Engineering in Southeast University;School of Instrument Science and Engineering in Southeast University |
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| Abstract: | A fuzzy algorithm of obstacle avoidance with multi-ultrasonic sensor for mobile robot navigate is proposed. We introduce a method to use resource of MATLAB to design a fuzzy logic controller, including rules of fuzzy control and courses of defuzzification, and to use fuzzy logic controller in C application program, changing the approaches of table making in tradition. After the test in the simulated and real environment, experimental results prove the algorithm correct. |
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| Keywords: | multi-ultrasonic sensor obstacle avoidance navigate fuzzy control MATLAB C application program |
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