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)-文庫(kù)吧資料
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【正文】 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 be reliably measured with these sensors is 10 cm, the sensors were placed about 9 cm from the front of the vehicle. This allowed measurements to be taken very close to the front of the robot. . Electronics In order to control the speed of each motor, pulsewidth modulation (PWM) was used to drive two L2722 op amps in open loop mode (Fig. 1). The high input resistance of these ICs allow for the motors to be powered with very little power draw from the PWM circuitry. In order to isolate the motor39。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 of
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