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Fuzzy controller for obstacle avoidance of mobile robots
Fuzzy controller for obstacle avoidance of mobile robots
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机译：用于移动机器人避障的模糊控制器
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摘要
The present invention relates to an obstacle avoidance fuzzy controller. The obstacle avoidance fuzzy controller fuzzy rule consisting of 18 positive and negative rule set for fuzzy input into the direction and distance of the direction and distance and obstructions of the target point rule base; And distance information from a number of obstacles and distance sensors are input, purging fire purge solidifying the input information; Fuzzy inference unit to infer the fuzzy screen input information in the output from the fuzzy obstacle avoidance angle using the positive / negative rule of the fuzzy rule base; Firearms for outputting a non-fuzzy obstacle avoidance angle to screen non-fuzzy output value to a fuzzy inference by the fuzzy inference unit (130); and a. ; By using the ultrasonic sensor by the present invention to quickly get the value in the fuzzy operation of the member function to the mobile robot avoids the obstacle, the obstacle avoidance operation can be faster to reduce the amount of computation of the controller will.
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