摘要
为提高人机混杂环境中移动机器人自主巡检效率,提出一种基于模糊逻辑理论的避障方法。通过分析人类的社会行为规则,结合机器人的运动特性,建立移动机器人系统的数学模型,将人机距离、人的行为模式和人与机器人间的相对速度参数进行模糊化处理,得出基于模糊推理方法的机器人速度变化决策,利用模糊控制规则,实现模糊逻辑控制,并通过穿越和相遇2种运动行为进行了实验验证。仿真结果验证了该方法具有抗干扰性和良好的避障性能。
In order to improve the efficiency of mobile robot autonomous inspection in human-machine mixed environment,we proposed an obstacle avoidance algorithm based on fuzzy logic theory.By analyzing the rules of human social behavior and combining the motion characteristics of the robot,established a mathematical model of mobile robot system.The human-machine distance,human behavior patterns,and relative speed parameters between human beings and robots are fuzzy so as to get the decision of robot speed regulation based on fuzzy inference method.Finally,the simulations and experiments of two motion behaviors of crossing and encountering in the man-machine hybrid environment are discussed and analyzed,and the results verify that the algorithm has anti-interference and good obstacle avoidance performance.
作者
李敬业
高学山
高锐
梁鹏
兰冰青
Li Jingye;Gao Xueshan;Gao Rui;Liang Peng;Lan Bingqing(School of Mechatronical Engineering,Beijing Institute of Technology,Beijing100081,China)
出处
《兵工自动化》
2020年第7期83-88,共6页
Ordnance Industry Automation
关键词
人机共存环境
巡检机器人
社会力模型
运动行为
模糊逻辑
man-machine environment
surveillance robot
social force model
movement behavior
fuzzy logic
