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)-免費(fèi)閱讀
【正文】 4 五圍和 ， “ 模糊邏輯控制的自主機(jī)器人為 ”2020 年年度 會(huì)議北美模糊信息處理學(xué)會(huì)， 337342（ 2020）。但是，這樣做將再次增加系統(tǒng)的復(fù)雜性。 5 結(jié)論 這有幾個(gè)簡(jiǎn)單的改進(jìn) 方法 可以 借鑒到 未來的迭代項(xiàng)目 中 以提高機(jī)器人的性能。這使得它 能沿著墻壁和角落 行動(dòng)而不會(huì)撞 擊 到 任何障礙 物 。 距離 隸屬函數(shù) 可以使來自 距離紅外傳感器的距離 信息 迅速 “ 模糊化 ” ，而 8 速模糊值函數(shù) 將其 轉(zhuǎn)換回準(zhǔn)確 的 數(shù) 值。 這個(gè)電路板提供了簡(jiǎn)易低成本的機(jī)器人開發(fā)電路 。為了 使 電機(jī) 的 供 電與其他器件的供電相分開， 專門一個(gè) V鎳鎘電池 為 電機(jī)供 電，而 其余的 電子 器件 用一個(gè)標(biāo)準(zhǔn)的 9 伏的 電源供電。 三夏普 GP2D12 紅外傳感器 用于測(cè)量距離 ，其 測(cè)量范圍 是 10 至 80 厘米，分別。例如，超聲波和紅外線傳感器 在其距離內(nèi) 允許快速和有效的 測(cè)量 但其 測(cè)量 結(jié)果存在很大的 不確定性。s power supply from the rest of the electronics, a V NiCad battery was used separately from a standard 9 V that demand on the op amps led to a small amount of overheating during continuous operation. This was remedied by adding small heat sinks and a fan to the forcibly disperse heat. Fig. 1. The control circuit used for driving each DC motor. Note that the PWM signal was between 0 and 5 V. . Microcontroller Computation was handled by an Arduino Duemilanove board with an ATmega328 microcontroller. The board has low power requirements and modifications. In addition, it has a large number of prototyping of the control circuit and based on the Wiring language. This board provided an easy and lowcost platform to build the robot around. 3. FUZZY CONTROL SCHEME FOR In order to apply fuzzy logic to the robot to interpret measured distances. While the final algorithm depended critically on the geometry of the robot itself and how it operates, some basic guidelines were followed. Similar research projects provided both simulation results and ideas for implementing fuzzy ,4,5 . Membership functions Three sets of membership functions were created to express degrees of membership for distances, translational speeds, and rotational speeds. This made for a total of two input membership functions and eight output membership functions (Fig. 2). Triangle and trapezoidal functions were used exclusively since they are quick to pute and easy to modify. Keeping putation time to a minimum was essential so that many sets of data could be analyzed every second (approximately one every 40 milliseconds). The distance membership functions allowed the distances from the IR sensors to be quickly fuzzified, while the eight speed membership functions converted fuzzy values back into crisp values. base Once the input data was fuzzified, the eight defined fuzzy logic rules (Table I) were executed in order to assign fuzzy values for translational speed and rotation. This resulted in multiple values for the each of the fuzzy output ponents. It was then necessary t
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