基于模煳控制的机器人避障研究

摘 要

移动机器人自主避障系统的设计方法多种多样，其中基于模糊控制的机器人避障系统主要是利用模糊逻辑控制器对机器人周围环境信息进行分析和判断，并规划出一条到达目标点的无碰撞路径。该方法有着占用资源小，反应迅速，并能应对相对复杂的外部环境。本文主要以基于模糊控制原理对移动机器人避障路径规划所作的相关研究为主要内容。

首先，本文对移动机器人自主路径规划的研究背景和意义进行了简单介绍， 其次，对移动机器人的运动学原理概述了移动机器人自主避障研究的发展现状。

进行学习和分析，随后建立相应的简化后的运动学数学模型，为随后进行的理论分析和研究打下基础。再次，简述本文所要用到的模糊控制基本原理，对机器人最后，自主避障行为进行研究，详细的设计适用于本设计的机器人模糊控制系统。

将设计出的机器人模糊控制系统在MATLAB软件平台上进行仿真。仿真结果证明，本文所设计的模糊控制系统能够实现机器人避障目标。

关键词：模糊控制；机器人；避障；MATLAB仿真

Abstract

Thereare many ways on autonomous mobile robot obstacle avoidance systemdesigning, which based on fuzzy control of robot obstacle avoidancesystem is to use the fuzzy logic control system to determine theenvironmental information around the robot, then plan out a route tothe target point with collision-free path. This method has a smallfootprint, responsive and could be able to cope with relativelycomplex external environment. In this paper, the main content isfuzzy control theory based obstacle avoidance of mobile robot pathplanning by research.

First,do some introductions for the paper path planning for autonomousmobile robot research background and the overview of autonomousmobile robot obstacle avoidance research and development of thedevelopment status. Secondly, to study and analyze the mobile robotkinematics, followed by the establishment the kinematics of thecorresponding simplified mathematical model, research foundation

control used in this article, and then study the autonomous robotobstacle avoidance
for the subsequent theoretical analysis.Thirdly, brief the basic principles of fuzzy

of the robot obstacle avoidance.

Keywords:fuzzy control; Robot; Obstacleavoidance; MATLAB simulation