基于行为模糊控制的移动机器人路径规划

Mobile Robot Path Planning Based on Behavior Fuzzy Control

摘要:

针对未知环境下移动机器人路径规划和提高自主导航安全性问题,基于行为的控制结构思想,在此基础上提出了一种基于模糊控制的移动机器人路径规划算法；根据传感器接收的障碍物和目标距离方位信息,将路径规划分成避障行为、趋向目标行为；结合模糊逻辑理论和人类驾驶经验,制定模糊规则,输出转角和速度；仿真结果表明,移动机器人能够克服环境中的不确定性,有效地实现良好的路径规划,验证了模糊控制算法的可行性,体现了该路径规划策略的有效性和正确性。

Abstract:

To the problem of mobile robot path planning and improve the autonomous navigation safety issues in unknown environment, behavior-based mobile robot control structure is presented, and proposed a mobile robot path planning algorithm based on fuzzy control. Based on the distance and orientation information of obstacles and targets received by the sensor, the path planning is divided into obstacle avoidance behavior and tending to target behavior. Integration of fuzzy logic theory and human driving experience, and establish fuzzy rules, output angle and speed. Simulation results show that the mobile robot can overcome the uncertainty in the environment, effectively achieve good path planning, verified the feasibility of fuzzy control algorithm, reflecting the effectiveness and correctness of the path planning strategy.