学术
摘 要:
根据模糊逻辑的特点,利用非线性函数对传统的模糊控制算法的隶属度函数进行了改进。通过MATLAB给出的仿真证明,在采用多传感器避障过程中,机器人不仅能成功避开障碍物达到目标所在位置,并且非线性函数隶属度函数优于传统隶属度函数。新算法使机器人的行进更加平滑、稳定且具有较高的实时性。[著者文摘]
文章出处:
《计算机应用研究》-2007年24卷11期,92 -88-89,92页
栏目信息:
分 类 号:
文献标识码:
A
文章编号:
1001-3695（2007）11-0088-02
Non-linear function fuzzy control algorithm for mobile robot obstacle avoidance
ZHANG You-ming, YIN Yi-xin （College of Information Engineering, University of Science ＆ Technology Beijing, Beijing 100083, China）
Abstract:
Based on the characteristic of fuzzy logic, this paper utilized non-linear function to improve the membership function of the traditional fuzzy control algorithm. The simulation result by MATLAB showed that in the obstacle avoidance process using multi-sensors, the robot could avoid the obstacles and reach the position successfully. The membership function of nonlinear function was superior to that of the linear one. The new algorithm makes the robot run more smoothly and steadily and has higher real-time feature. [著者文摘]
Key words:
mobile robot; obstacle avoidance; fuzzy control; MATLAB
基金资助:
国家自然科学基金资助项目（60374032）;北京市重点科学基金资助项目
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