自主移动机器人导航耦合模糊逻辑与响应式DVZ三维避障控制

2015 International Symposium on Innovations in Intelligent SysTems and Applications (INISTA) Pub Date : 2015-09-28 DOI:10.1109/INISTA.2015.7276748

Emna Baklouti, M. Jallouli, N. B. Amor, Sondes Titi, Ahlem Nafti

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引用次数: 4

摘要

研究了自主移动机器人在未知三维环境中安全移动以达到预期目标的反应控制问题。为了进一步解决这一问题，我们提出了一种基于模糊逻辑控制器(FLC)的目标寻优行为和可变形虚拟区域(DVZ)反应算法的混合方法来解决三维避障问题。我们建议一个实用的解决方案，结合两个控制器。该方法已在不同配置下进行了仿真测试。

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Autonomous mobile robot navigation coupling fuzzy logic and reactive DVZ 3D obstacle avoidance control

This paper deals with the reactive control of an autonomous mobile robot which should move safely in a unknown three-dimensional(3D) environment to reach a desired goal. In order to proceed with the problem, we propose a hybrid approach based on fuzzy logic controller (FLC) for goal seeking behavior and Deformable Virtual Zone (DVZ) reactive algorithm to address 3D obstacles avoidance. We suggest a practical solution to combine both controllers. The proposed approach has been successfully tested in different configuration on simulation.

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2015 International Symposium on Innovations in Intelligent SysTems and Applications (INISTA)

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