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，概述了移动机器人自主避障研究的发展现状。其次，对移动机器人的运动学原理进行学习和分析，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。最后，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AbstractThere 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