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为解决没有通信情况下的多机器人系统在未知动态环境下的路径规划问题,设计了采用双层模糊控制器方法的危险度模糊控制器和速度模糊控制器.危险度模糊控制器充分考虑了运动障碍物的速度信息,把机器人同障碍物之间的碰撞可能性用基于碰撞时间因子和碰撞距离因子的碰撞危险度来表示,使之更适合于动态的环境.速度模糊控制器的输入充分考虑了目标方位角、障碍物方位角和碰撞危险度,采用行为思想设计模糊规则,规则中体现了奔向目标行为、躲避障碍物行为和沿着障碍物行走行为,使之更适合复杂的环境.仿真结果表明:该算法具有可行性、有效性和快速反应的能力.
To solve the path planning problem of multi-robot system without communication in unknown dynamic environment, a fuzzy controller and a speed fuzzy controller using double-layer fuzzy controller are designed. The fuzzy controller of hazard degree fully considers the motion Obstacle velocity information, the collision probability between the robot and the obstacle based on the collision time factor and the collision distance factor is used to represent the collision risk, so that it is more suitable for the dynamic environment. The input of the speed fuzzy controller is fully considered The azimuths of the targets, the azimuths of the obstacles and the degree of collision hazard are adopted. The fuzzy rules are designed according to the behavioral thinking. The rules reflect the behaviors of moving toward the target, avoiding the obstacles and walking along the obstacles so as to make them more suitable for the complex environment. Simulation results show that this algorithm is feasible, effective and quick response ability.