摘  要

移動(dòng)機(jī)器人自主避障系統(tǒng)的設(shè)計(jì)方法多種多樣，其中基于模糊控制的機(jī)器人避障系統(tǒng)主要是利用模糊邏輯控制器對機(jī)器人周圍環(huán)境信息進(jìn)行分析和判斷，并規(guī)劃出一條到達(dá)目標(biāo)點(diǎn)的無碰撞路徑。該方法有著占用資源小，反應(yīng)迅速，并能應(yīng)對相對復(fù)雜的外部環(huán)境。本文主要以基于模糊控制原理對移動(dòng)機(jī)器人避障路徑規(guī)劃所作的相關(guān)研究為主要內(nèi)容。

首先，本文對移動(dòng)機(jī)器人自主路徑規(guī)劃的研究背景和意義進(jìn)行了簡單介紹，概述了移動(dòng)機(jī)器人自主避障研究的發(fā)展現(xiàn)狀。其次，對移動(dòng)機(jī)器人的運(yùn)動(dòng)學(xué)原理進(jìn)行學(xué)習(xí)和分析，隨后建立相應(yīng)的簡化后的運(yùn)動(dòng)學(xué)數(shù)學(xué)模型，為隨后進(jìn)行的理論分析和研究打下基礎(chǔ)。再次，簡述本文所要用到的模糊控制基本原理，對機(jī)器人自主避障行為進(jìn)行研究，詳細(xì)的設(shè)計(jì)適用于本設(shè)計(jì)的機(jī)器人模糊控制系統(tǒng)。最后，將設(shè)計(jì)出的機(jī)器人模糊控制系統(tǒng)在MATLAB軟件平臺(tái)上進(jìn)行仿真。仿真結(jié)果證明，本文所設(shè)計(jì)的模糊控制系統(tǒng)能夠?qū)崿F(xiàn)機(jī)器人避障目標(biāo)。

關(guān)鍵詞：模糊控制；機(jī)器人；避障；MATLAB仿真


 


 


 


 


 


 


 




 

Abstract

There are many ways on autonomous mobile robot obstacle avoidance system designing, which based on fuzzy control of robot obstacle avoidance system is to use the fuzzy logic control system to determine the environmental information around the robot, then plan out a route to the target point with collision-free path. This method has a small footprint, responsive and could be able to cope with relatively complex external environment. In this paper, the main content is fuzzy control theory based obstacle avoidance of mobile robot path planning by research.

First, do some introductions for the paper path planning for autonomous mobile robot research background and the overview of autonomous mobile robot obstacle avoidance research and development of the development status. Secondly, to study and analyze the mobile robot kinematics, followed by the establishment the kinematics of the corresponding simplified mathematical model, research foundation for the subsequent theoretical analysis. Thirdly, brief the basic principles of fuzzy control used in this article, and then study the autonomous robot obstacle avoidance behavior, and detailed design a robot fuzzy control system. Finally, do simulation about the design of robot fuzzy control system in the MATLAB software. Simulation results show that this fuzzy control system designed can achieve the goal of the robot obstacle avoidance.

Keywords: fuzzy control; Robot; Obstacle avoidance; MATLAB simulation


 


 


 




 

目 錄

引 言  1

第一章 移動(dòng)機(jī)器人運(yùn)動(dòng)學(xué)模型 4

1.1 移動(dòng)機(jī)器人基本結(jié)構(gòu)及要求 4

1.2 移動(dòng)機(jī)器人運(yùn)動(dòng)學(xué)模型 5

第二章 移動(dòng)機(jī)器人模糊控制系統(tǒng) 7

2.1  模糊控制概況 7

2.2  模糊控制理論基礎(chǔ) 8

2.2.1模糊集合 8

2.2.2 模糊關(guān)系 8

2.2.3 語言變量 8

2.2.4 模糊推理 9

2.3 模糊控制系統(tǒng)的組成 10

2.3.1 模糊化 11

2.3.2 知識(shí)庫 11

2.3.3 模糊推理 11

2.3.4 清晰化 12

2.4 移動(dòng)機(jī)器人模糊控制系統(tǒng)設(shè)計(jì) 12

2.4.1 移動(dòng)機(jī)器人避障模糊控制模型 12

2.4.2 模糊輸入輸出集 13

2.4.3 模糊規(guī)則 15

第三章 仿真研究 17

3.1 MATLAB簡介 17

3.2 移動(dòng)機(jī)器人仿真模型 18

3.3 模糊控制器仿真 18

3.4 仿真結(jié)果 21

結(jié) 論  23

參考文獻(xiàn) 24

致 謝  25