服务型移动机器人智能模糊运动控制

Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots Pub Date : 1995-08-05 DOI:10.1109/IROS.1995.525929

S. Ulyanov, K. Yamafuji, K. Miyagawa, Takayuki Tanaka, T. Fukuda

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引用次数: 17

摘要

具有机械手的服务用智能移动机器人在非结构化环境中移动。介绍了实现移动机器人自主运动的规划策略、利用两种传感器进行环境识别和运动控制。模糊定性仿真、遗传算法和层次节点映射显示了它们在移动机器人路径规划中的有效性。给出了模糊机器人控制仿真、监测和实验研究的结果。

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Intelligent fuzzy motion control of mobile robot for service use

The intelligent mobile robot for service use with manipulators are moved in unstructured environments. Strategy for planning, environment recognition using two kinds of sensors and locomotion control to realize autonomous locomotion of the mobile robot are described. Fuzzy qualitative simulation, GA and hierarchical node map have revealed their effectiveness for path planning of the mobile robots. The results of fuzzy robot control simulation, monitoring and experimental investigations are presented.

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来源期刊

Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

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