用模糊逻辑控制机器人在动态障碍环境中自主导航
Fuzzy Logic Control for Indoor Navigation of Mobile Robots
- 基于模糊逻辑构建决策系统，处理环境不确定性
- 输入传感器数据与目标方向，输出轮子加速度控制
- 适合复杂动态环境下的移动机器人路径规划
自主移动机器人在非结构化室内环境中具有广泛应用，需在未知且动态变化的环境中实现最优运动。本文提出一种模糊逻辑控制器用于移动机器人在未知动态杂乱环境中的导航。模糊逻辑控制器因其在不确定条件下仍能进行推理的能力而被采用，有助于规则生成与决策过程，以在各种情况下到达目标位置。控制器输入为机器人传感器读数和期望运动方向，输出为左右轮的加速度。该方法使机器人能够避开障碍物并成功抵达目标位置。关键词：模糊逻辑控制器、隶属函数、Takagi-Sugeno-Kang FIS、重心去模糊化
原文摘要 · Abstract (English)
Autonomous mobile robots have many applications in indoor unstructured environment, wherein optimal movement of the robot is needed. The robot therefore needs to navigate in unknown and dynamic environments. This paper presents an implementation of fuzzy logic controller for navigation of mobile robot in an unknown dynamically cluttered environment. Fuzzy logic controller is used here as it is capable of making inferences even under uncertainties. It helps in rule generation and decision making process in order to reach the goal position under various situations. Sensor readings from the robot and the desired direction of motion are inputs to the fuzz logic controllers and the acceleration of the respective wheels are the output of the controller. Hence, the mobile robot avoids obstacles and reaches the goal position. Keywords: Fuzzy Logic Controller, Membership Functions, Takagi-Sugeno-Kang FIS, Centroid Defuzzification
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