【文章內(nèi)容簡介】 ddition, the limited number of rules used may have limited the dynamics of the robot39。s responses. Some articles suggest as many as forty rules6 should be used, while others tend to present between ten and twenty. Since this project did not explore plex kinematics or putational simulations of the robot, it is difficult to determineexactly how many rules should be used. However, for the purposes of testing fuzzy logic as a navigational aide, the eight rules were sufficient. Despite the many problems that IR and similar ultrasonic sensors have with reliably obtaining distances, the robustness of fuzzy logic was frequently able to prevent the robot from running into ，它可以檢測。允許它跟隨墻壁和彎曲周圍的角落，沒有擊中任何障礙體面。然而，由于紅外傳感器的測定值依賴于周圍的物體的幾何形狀，當(dāng)機器人無法檢測到障礙。例如，紅外線光束擊中一個表面的斜入射時，它會反映遠離傳感器，而不是寄存器作為對象。此外，可能會限制所使用的規(guī)則的數(shù)目有限的機器人的響應(yīng)的動態(tài)。建議多達40 rules6的一些文章應(yīng)該被使用，而另一些目前傾向于在10和20之間。由于該項目沒有探索復(fù)雜運動或計算機模擬的機器人，它是難以確定到底有多少規(guī)則應(yīng)該被使用。然而，對于作為導(dǎo)航助手模糊邏輯測試的目的，八個規(guī)則已經(jīng)足夠。盡管有許多問題， IR和類似的超聲波傳感器具有可靠地獲得距離，模糊邏輯的魯棒性，經(jīng)常能夠運行，以防止機器人到障礙物。5. CONCLUSIONThere are several easy improvements that could be made to future iterations of this project in order to improve the robot39。s performance. The most dramatic would be to implement the IR or ultrasonic sensors on a servo so that they could each scan a full 180 degrees. However, this type of overhaul may undermine some of fuzzy logic39。s helpful simplicity. Another helpful tactic would be to use a few types of sensors so that data could be taken at multiple ranges. The IR sensors used in this experiment had a minimum distance of 10 cm, so anything in front of this could not be reliably detected. Similarly, the sensors had a maximum distance of 80 cm so it was difficult to react to objects far away. Ultrasonic sensors do offer significantly increased ranges at a slightly increased cost and response time. Lastly, defining more membership functions could help improve the rule base by creating more fine tuned responses. However, this would again increase the plexity of the system.Thus, this project has successfully implemented a simple fuzzy control scheme for adjusting the heading and speed of a mobile robot. While it is difficult to determine whether this is a worthwhile application without heavily researching other methods, it is quite apparent that fuzzy logic affords a certain level of simplicity in the design of a system. Furthermore, it is a novel approach to dealing with high levels of uncertainty in realworld ，以提高機器人的性能，可以作出這個項目未來的迭代。最引人注目的將是實現(xiàn)伺服，使他們能夠掃描180度的紅外線或超聲波傳感器。然而，這種類型的檢修可能破壞一些模糊邏輯樂于助人的簡單。另一種有用的策略是使用幾種類型的傳感器，使數(shù)據(jù)可以在多個范圍。本實驗中使用的紅外線傳感器的最小距離為10厘米，所以無法可靠地檢測到任何在前面的這同樣，傳感器的最大距離為80厘米，所以很難遠處的物體作出反應(yīng)。超聲波傳感器提供顯著增加的范圍略有增加的成本和響應(yīng)時間。最后，定義更多的隸屬函數(shù)，可以幫助提高規(guī)則庫通過創(chuàng)建更多的微調(diào)反應(yīng)。然而，這將再次增加系統(tǒng)的復(fù)雜性。因此，該項目已經(jīng)成功地實現(xiàn)了一個簡單的模糊控制計劃調(diào)整航向和速度的移動機器人。雖然這是難以確定這是否是一個有價值的應(yīng)用程序，而不大量研究其他方法，這是很明顯模糊邏輯能提供一定程度的簡單起見，在一個系統(tǒng)的設(shè)計。此外，它是一個新的方法來處理在現(xiàn)實世界環(huán)境中的不確定性水平高。6. REFERENCES1 Ed. M. Jamshidi, N. Vadiee, and T. Ross, Fuzzy logic and control: software and hardware applications, (Prentice Hall: Englewood Cliffs, NJ) 292328.2 Ibid, 232261.3 W. L. Xu, S. K. Tso, and Y. H. Fung, Fuzzy reactive control of a mobile robot incorporating a real/virtual target switching strategy, Robotics and Autonomous Systems, 23(3), 171186 (1998).4 V. Peri and D. Simon, “Fuzzy logic control for an autonomous robot,” 2005 Annual Meeting of the North American Fuzzy Information Processing Society, 337342 (2005).5 A. Martinez, E. Tunstel, and M. Jamshidi, Fuzzylogic based collisionavoidance for a mobile robot, Robotica, 12(6) 521–527 (1994).6 W. L. Xu, S. K. Tso, and Y. H. Fung, Fuzzy reactive control of a mobile robot incorporating a real/virtual target switching strategy, Robotics and Autono