| 引用本文: | 李伟.在未知环境中基于模糊逻辑的移动机器人行为控制[J].控制理论与应用,1996,13(2):153~162.[点击复制] |
| Li Wei.Behavior Based Control of a Mobile Robust in Unknown Environments Using Fuzzy Logic*[J].Control Theory and Technology,1996,13(2):153~162.[点击复制] |
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| 在未知环境中基于模糊逻辑的移动机器人行为控制 |
| Behavior Based Control of a Mobile Robust in Unknown Environments Using Fuzzy Logic* |
| 摘要点击 727 全文点击 427 投稿时间：1994-10-31 修订日期：1995-08-19 |
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| DOI编号 |
| 1996,13(2):153-162 |
| 中文关键词 行为控制 模糊逻辑 机器人导航 非确定性 基于传感信息的规划 |
| 英文关键词 behavior based control fuzzy logic control robust navigation uncertainty sensor based motion planning |
| 基金项目 |
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| 中文摘要 |
| 本文介绍了一种在未知环境中基于模糊逻辑的移动机器人行为控制方法．传统的行为控制方法存在两个弱点：①行为不易描述；②多个行为之间的冲突和竞争难以协调．这篇文章的主要思想是将模糊逻辑控制与行为控制相结合致使这两个问题得到有效的解决．仿真实验结果表明：所提的方法通过多个行为如避障边沿行走和目标导向的融合，能够有效地对机器人在复杂和未知环境中导航．另外，该方法还适用于多传感器的融合与集成． |
| 英文摘要 |
| This paper presents a new method for behavior based control of mobile robust in uncertain environments using fuzzy logic.Behavior based control suffers form two difficulties：?The quantitative formulation of behavior：?The efficient coordination of conflicts and competition among multiple behavior.The main idea of the present study is to incorporate fuzzy logic control with behavior based control such that：behavior sets formulated by fuzzy and a rule base；conflicts and competition among different behavior are coordinated by fuzzy reasoning.
Simulation results show that the proposed method can be efficiently applied to robust navigation in complex and unknown environments by fusing multiple behavior，such as avoiding obstacles，following edges，and moving towards a target，and so forth.In addition，this method is suitable for robot navigation by multisensor fusion and investigation. |