機(jī)器人外文翻譯外文文獻(xiàn)英文文獻(xiàn)采用模糊邏輯控制使自主機(jī)器人避障設(shè)計(jì)(已修改)
2024-11-18 04:46 本頁(yè)面
【正文】 Autonomous robot obstacle avoidance using a fuzzy logic control scheme William Martin Submitted on December 4, 2020 CS311 Final Project 1. INTRODUCTION One of the considerable hurdles to overe, when trying to describe a realworld control scheme with firstorder logic, is the strong ambiguity found in both semantics and evaluations. Although one option is to utilize probability theory in order to e up with a more realistic model, this still relies on obtaining information about an agent39。s environment with some amount of precision. However, fuzzy logic allows an agent to exploit inexactness in its collected data by allowing for a level of tolerance. This can be especially important when high precision or accuracy in a measurement is quite costly. For example, ultrasonic and infrared range sensors allow for fast and cost effective distance measurements with varying uncertainty. The proposed applications for fuzzy logic range from controlling robotic hands with six degrees of freedom1 to filtering noise from a digital Due to its easy implementation, fuzzy logic control has been popular for industrial applications when advanced differential equations bee either putationally expensive or offer no known solution. This project is an attempt to take advantage of these fuzzy logic simplifications in order to implement simple obstacle avoidance for a mobile robot. 2. PHYSICAL ROBOT IMPLEMENTATION . Chassis and sensors The robotic vehicle39。s chassis was constructed from an Excalibur EIMSD2020 remote control toy tank. The device was stripped of all electronics, gears, and extraneous parts in order to work with just the empty case and two DC motors for the tank treads. However, this left a somewhat uneven surface to work on, so highdensity polyethylene (HDPE) rods were used to fill in empty spaces. Since HDPE has a rather low surface energy, which is not ideal for bonding with other materials, a propane torch was used to raise surface temperature and improve bonding with an epoxy adhesive. Three Sharp GP2D12 infrared sensors, which have a range of 10 to 80 cm, were used for distance measurements. In order to mount these appropriately, a by 15 cm piece of aluminum was bent into three even pieces at 135 degree angles. This allows for the IR sensors to take three different measurements at 45 degree angles (right, middle, and left distances). This sensor mount was then attached to an HDPE rod with mounting tape and the rod was glued to the tank base with epoxy. Since the minimum distance that can
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