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Research on ODMM Obstacle Avoidance Fuzzy Navigation Based on Ultrasonic-Absolute-Positioning

机译：基于超声绝对定位的ODMM避障模糊导航研究

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摘要

The obstacle avoidance fuzzy navigation strategy based on ultrasonic absolute position was proposed to improve the navigation efficiency and precision of the omni-directional mobile manipulator (ODMM). Comparing with the conventional navigation strategies, the superiority of this strategy is that it can momently get the accuracy positioning of robot and it can adjust posture and speed. The method of fusion redundancy ultrasonic information (FRUI) can improve the absolute positioning accuracy of ODMM. Absolute position based on fusion redundancy ultrasonic information(FRUI) and fuzzy navigation based on driving experience were all applied to the ODMM navigation. This strategies include the move-to-goal behavior based on absolute position and obstacle avoidance fuzzy navigation based on absolute positioning. Finally the experiment had been performed, the experimental result proved that the obstacle avoidance fuzzy navigation algorithm based on ultrasonic absolute positioning was effective and the navigation efficiency and precision of ODMM were greatly improved.
机译：提出了一种基于超声绝对位置的避障模糊导航策略，以提高全向移动机械手的导航效率和精度。与传统的导航策略相比，该策略的优势在于可以瞬间获得机器人的精确定位，并且可以调整姿态和速度。融合冗余超声信息（FRUI）的方法可以提高ODMM的绝对定位精度。基于融合冗余超声信息（FRUI）的绝对位置和基于驾驶经验的模糊导航都被应用于ODMM导航。该策略包括基于绝对位置的目标移动行为和基于绝对位置的避障模糊导航。最后进行了实验，实验结果表明，基于超声绝对定位的避障模糊导航算法是有效的，极大地提高了ODMM的导航效率和精度。

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