移动机器人模糊轨迹跟踪与规划控制的设计与实现

Proceedings of IEEE Region 10 International Conference on Electrical and Electronic Technology. TENCON 2001 (Cat. No.01CH37239) Pub Date : 2001-08-19 DOI:10.1109/TENCON.2001.949634

T.-H.S. Li, Sheng-Sung Jian, M. Tsai

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引用次数: 4

摘要

研究了移动机器人的模糊轨迹跟踪和规划控制问题。针对轨迹跟踪问题设计了模糊逻辑控制器，并针对已知环境中存在障碍物的轨迹规划问题提出了模糊决策机制。开发了一种类似汽车的移动机器人系统来执行该实现，其中设置了视觉系统来检测工作环境和障碍物。计算机仿真和实时实验结果表明，所提出的模糊轨迹跟踪与规划控制器可以使移动机器人在有障碍物的环境中在线执行轨迹跟踪与规划问题。

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Design and implementation of fuzzy trajectory following and planning control for mobile robots

Fuzzy trajectory following and planning control for mobile robots are examined. A fuzzy logic controller is designed for a trajectory following problem and a fuzzy logic decision mechanism is proposed for the trajectory planning with obstacles in a known environment. A car-like mobile robot system is developed to perform the implementation, where the vision system is set up to detect the working environment and obstacles. Both computer simulations and real-time experimental results demonstrate that the proposed fuzzy trajectory following and planning controller can successfully make the mobile robot online execute the trajectory following and planning problems even in an environment with obstacles.

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Proceedings of IEEE Region 10 International Conference on Electrical and Electronic Technology. TENCON 2001 (Cat. No.01CH37239)

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