全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

未知环境下模块化移动机器人路径规划的研究

Keywords: 模块化, 移动机器人, 模糊控制, 路径规划

Full-Text   Cite this paper   Add to My Lib

Abstract:

为了使移动机器人各组件可快速组装、便于维修,设计了一种新颖的模块化移动机器人,其由驱动模块、控制模块、传感模块及标准连接模块组成;为了解决移动机器人在复杂未知环境下的路径规划问题,提出了基于“感知―动作”的模糊逻辑控制体系结构,采用基于“感知―动作”的模糊逻辑控制方法分别对模块化移动机器人的路径规划进行了二维和三维的仿真,仿真结果表明了该模糊逻辑控制方法的稳定性和实用性;在三维复杂环境下应用该方法仿真实现了单个及多个机器人的避碰运动。

References

[1]  YORAM K, JOHANN B. Potential field methods and their inherent limitations for mobile robot navigation[C]// Proc IEEE Int Conf Robotics and Automation. Sacramento, California, USA,1991: 1398-1404.
[2]  GE SS, CUI Y J New potential functions for mobile robot path planning [J]. IEEE Transaction on Robotics and Automation, 2000,16(5): 615-620.
[3]  王萌,王晓荣,李春贵, 等. 改进人工势场法的移动机器人路径规划研究[J]. 计算机工程与设计, 2008, 29(6):1504-1506. WANG Meng, WANG Xiaorong, LI Chungui, et al. Study of local path planning of mobile robot based on improved artificial potential field method.[J]. Computer Engineering and Design, 2008, 29(6):1504-1506.
[4]  LEE M C, PARK M G. Artificial potential field based path planning for mobile robots using a virtual obstacle concept[C]// Proceedings of 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Port Island, Kobe, Japan, 2003: 735-740.
[5]  FIERRO R, LEWIS F L. Control of nonholonomic mobile robot using neural networks[J]. IEEE Trans on Neural Networks,1998, 9(4): 589-600.
[6]  邢军,王杰.神经网络在移动机器人路径规划中的应用研究[J].微计算机信息, 2005,21(11) :110-112. XING Jun, WANG Jie. Application research of artificial neural network in robot trajectory planning[J]. Microcomputer Information, 2005,21(11) :110-112.
[7]  BEZDEK J C. The coming age of fuzzy logic [C]// Proceedings of the 1989 IFSA Congress. Seattle: University of Washington, 1989:303-306.
[8]  ANTONELLI G,CHIAVERINI S,giuseppe f. a fuzzy-logic-based approach for mobile robot path tracking[J].IEEE Transactions on Fuzzy Systems , 2007, 15 (2) : 211-221.
[9]  庞思红,李维,李春书等.移动机器人模糊逻辑控制系统避障研究[J].微计算机信息,2007,23(2):250-251. PANG Sihong, LI Wei, LI Chunshu, et al. Fuzzy Control of Obstacle Avoidance for Mobile Robot [J]. Microcomputer Information, 2007,23(2):250-251.
[10]  Cyberbotics Ltd. Webots reference manual[EB/OL]. (2008-08-16)http://www.cyberbotics.com/.
[11]  ROH S G, PARK K H, YANG K W, PARK J H, KIM H S, LEE H G, CHOI H R. Development of dynamically reconfigurable personal robot[C]// Proc IEEE Int Conf Robotics and Automation. New Orleans, USA. 2004: 4023-4028.

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133