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首页> 外文会议>Mechatronics, 2009. ICM 2009 >Fuzzy logic based speed planning for autonomous navigation under Velocity Field Control
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Fuzzy logic based speed planning for autonomous navigation under Velocity Field Control

机译：速度场控制下基于模糊逻辑的自主导航速度规划

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摘要

Velocity fields techniques are often used in the path planning and control problem in autonomous navigation. Velocity fields are compounded by vectors that can be expressed in polar form, i.e. Vx = |Voarr| ldr cos(alpha) and Vy = |Voarr| ldr sin(alpha). In the proposed technique, the problem is divided into two separate problems: the calculation of the orientation angle alpha, which was treated in a previous work, and the calculation of the linear velocity |Voarr|. This paper addresses the calculation of |Voarr| given a trajectory vector field that encodes alpha, thus generating the speed reference for a Velocity Field Controller. The linear velocity |Voarr| is generated through a Mamdani-type Fuzzy Inference System, that considers the curl of the trajectory vector field, and an extension of the Voronoi Diagram. Results obtained in both simulations and tests with a real robot show that an adequate intelligent velocity behavior, and a smooth obstacle avoidance are achieved.
机译：速度场技术通常用于自主导航的路径规划和控制问题中。速度场由可以极性表示的向量复合而成，即V x = | Voarr | ldr cos（alpha）和V y = | Voarr | ldr sin（alpha）。在所提出的技术中，该问题分为两个独立的问题：在先前的工作中已经处理过的取向角α的计算，以及线速度| Voarr |的计算。本文讨论| Voarr |的计算。给定一个编码alpha的轨迹矢量场，从而为Velocity Field Controller生成速度参考。线速度| Voarr |通过Mamdani型模糊推理系统生成，该系统考虑了轨迹矢量场的卷曲以及Voronoi图的扩展。在真实机器人的仿真和测试中获得的结果表明，可以实现足够的智能速度行为和平稳的避障性能。

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