基于进化规划的移动机器人模糊路径规划与跟随器

Proceedings of the 2000 Congress on Evolutionary Computation. CEC00 (Cat. No.00TH8512) Pub Date : 2000-07-16 DOI:10.1109/CEC.2000.870287

Moon-Su Lee, M. Jung, Jong-Hwan Kim

{"title":"基于进化规划的移动机器人模糊路径规划与跟随器","authors":"Moon-Su Lee, M. Jung, Jong-Hwan Kim","doi":"10.1109/CEC.2000.870287","DOIUrl":null,"url":null,"abstract":"A fuzzy logic controller (FLC) for mobile robots is designed in a hierarchical structure. The designed FLC consists of two levels: the planner level and the motion control level. The planner level generates a path to the destination with obstacle avoidance. The singleton outputs of the planner are obtained using line and arc methods. The lower motion control level calculates the robot's wheel velocity so as to follow the path generated by the planner as to the current robot posture. The fuzzy singleton outputs are obtained by heuristics and tuned by evolutionary programming. The applicability of the controller is demonstrated using a robot soccer system.","PeriodicalId":218136,"journal":{"name":"Proceedings of the 2000 Congress on Evolutionary Computation. CEC00 (Cat. No.00TH8512)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2000-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"26","resultStr":"{\"title\":\"Evolutionary programming-based fuzzy logic path planner and follower for mobile robots\",\"authors\":\"Moon-Su Lee, M. Jung, Jong-Hwan Kim\",\"doi\":\"10.1109/CEC.2000.870287\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A fuzzy logic controller (FLC) for mobile robots is designed in a hierarchical structure. The designed FLC consists of two levels: the planner level and the motion control level. The planner level generates a path to the destination with obstacle avoidance. The singleton outputs of the planner are obtained using line and arc methods. The lower motion control level calculates the robot's wheel velocity so as to follow the path generated by the planner as to the current robot posture. The fuzzy singleton outputs are obtained by heuristics and tuned by evolutionary programming. The applicability of the controller is demonstrated using a robot soccer system.\",\"PeriodicalId\":218136,\"journal\":{\"name\":\"Proceedings of the 2000 Congress on Evolutionary Computation. CEC00 (Cat. No.00TH8512)\",\"volume\":\"42 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2000-07-16\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"26\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 2000 Congress on Evolutionary Computation. CEC00 (Cat. No.00TH8512)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CEC.2000.870287\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2000 Congress on Evolutionary Computation. CEC00 (Cat. No.00TH8512)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CEC.2000.870287","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 26

摘要

设计了一种层次结构的移动机器人模糊控制器。所设计的FLC包括两个层次:规划层和运动控制层。计划者关卡生成一条避开障碍物到达目的地的路径。利用直线法和圆弧法得到了规划器的单例输出。下运动控制层计算机器人的车轮速度，使其按照规划器生成的路径运行到当前机器人的姿态。模糊单例输出通过启发式算法得到，并通过进化规划进行优化。通过机器人足球系统验证了该控制器的适用性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Evolutionary programming-based fuzzy logic path planner and follower for mobile robots

A fuzzy logic controller (FLC) for mobile robots is designed in a hierarchical structure. The designed FLC consists of two levels: the planner level and the motion control level. The planner level generates a path to the destination with obstacle avoidance. The singleton outputs of the planner are obtained using line and arc methods. The lower motion control level calculates the robot's wheel velocity so as to follow the path generated by the planner as to the current robot posture. The fuzzy singleton outputs are obtained by heuristics and tuned by evolutionary programming. The applicability of the controller is demonstrated using a robot soccer system.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings of the 2000 Congress on Evolutionary Computation. CEC00 (Cat. No.00TH8512)

自引率

0.00%

发文量