【正文】 日 導(dǎo)師簽名： 日期： 年 月 日 注 意 事 項(xiàng) （論文）的內(nèi)容包括： 1）封面（按教務(wù)處制定的標(biāo)準(zhǔn)封面格式制作） 2）原創(chuàng)性聲明 3）中文摘要（ 300 字左右）、關(guān)鍵詞 4）外文摘要、關(guān)鍵詞 5）目次頁(yè)（附件不統(tǒng)一編入） 6）論文主體部分：引言（或緒論）、正文、結(jié)論 7）參考文獻(xiàn) 8）致謝 9）附錄（對(duì)論文支持必要時(shí)） ：理工類設(shè)計(jì)（論文）正文字?jǐn)?shù)不少于 1 萬(wàn)字（不包括圖紙、程序清單等），文科類論文正文字?jǐn)?shù)不少于 萬(wàn)字。 、圖表要求： 1）文字通順，語(yǔ)言流暢，書寫字跡工整，打印字體及大小符合要求，無(wú)錯(cuò)別字，不準(zhǔn)請(qǐng)他人代寫 2）工程設(shè)計(jì)類題目的圖紙，要求部分用尺規(guī)繪制，部分用計(jì)算機(jī)繪制，所有圖紙應(yīng)符合國(guó)家技術(shù)標(biāo)準(zhǔn)規(guī)范。自主避障算法屬于智能避障功能中 的著重點(diǎn)，在傳統(tǒng)的算法研究中，需要依靠被控對(duì)象所建立的精確數(shù)學(xué)模型還有提供的全面并且完整的環(huán)境信息，在控制過(guò)程相對(duì)復(fù)雜，參數(shù)繁多，環(huán)境信息不全面，被控對(duì)象的數(shù)學(xué)模型很難確定時(shí)，避障效果不會(huì)令人滿意 本文首先對(duì)移動(dòng)機(jī)器人的研究背景以及目的進(jìn)行概述，然后介紹關(guān)于自主避障的一些常用方法，包括人工勢(shì)場(chǎng)法、模糊控制算法以及遺傳算法。根據(jù)模糊理論研究其模糊規(guī)則庫(kù)及算法，并進(jìn)行仿真驗(yàn)證，驗(yàn)證此避障算法可以使得移動(dòng)機(jī)器人在未知環(huán)境下實(shí)行自主避障。 關(guān)鍵詞 移動(dòng)機(jī)器人 模糊邏輯 自主避障 Function and influence on the market system of highway transportation of technological innovation Abstract Autonomous obstacle avoidance capability is an important indicator of intelligent mobile robot, also an important guarantee of intelligent vehicle safety driving. Obstacle avoidance algorithm is intelligent obstacle avoidance function of the emphasis in the traditional algorithm, it is necessary to rely on the full and plete environmental information accurate mathematical model of the controlled object also provides established, relatively plex control process parameters range of environmental information is not prehensive, when the Mathematical model is difficult to determine the effect of avoidance is not satisfactory Firstly, the mobile robot research background and purpose of the overview, then describes some of the monly used methods on autonomous obstacle avoidance, including artificial potential field method, fuzzy control algorithms and geic algorithms. Then modeling the robot, and on this basis, and then take the fuzzy logic control method of obstacle avoidance algorithm, fuzzy logic controller. According to the fuzzy theory and its fuzzy rule base algorithm and simulation to verify that obstacle avoidance algorithm enables implementation of autonomous mobile robot obstacle avoidance in an unknown environment. And based on results of the validation algorithm is improved and perfected. Keywords mobile robot Fuzzy Logic Autonomous obstacle avoidance 目錄 摘要 Abstract 1 緒論 ...........................................................................................................................................1 選題的研究背景 ...................................................................................................................1 選題研究意義 .......................................................................................................................1 國(guó)內(nèi)外避障算法研究現(xiàn)狀 ...................................................................................................2 國(guó)外避障算法研究 現(xiàn)狀 ....................................................................................................2 國(guó)內(nèi)避障算法研究現(xiàn)狀 ....................................................................................................2 避障常用算法介紹 ...............................................................................................................2 全局避障方法 ....................................................................................................................2 局部避障方法 ....................................................................................................................3 論文主要內(nèi)容及論文安排 ...................................................................................................3 2 移動(dòng)機(jī)器人建模 .......................................................................................................................4 建移動(dòng)機(jī)器人坐標(biāo)系 ...........................................................................................................4 移動(dòng)機(jī)器人運(yùn)動(dòng)模型及位姿的確定 ...................................................................................5 移動(dòng)機(jī)器人安全距離的選取原則 .......................................................................................6 前方存在障礙物時(shí)的安全距離選取 ................................................................................6 側(cè)面存在障礙物時(shí)的安全距離選取 ................................................................................7 本章小結(jié) ...............................................................................................................................7 3 模糊邏輯避障控制系統(tǒng)的策略研究 ......................................................................................8 模糊邏輯控制研究現(xiàn)狀 .......................................................................................................8 模糊控制的概況及理論基礎(chǔ) ...............................................................................................8 模糊控制系統(tǒng)的組成 ...........................................................................................................8 模糊化 ................................................................................................................................9 知識(shí)庫(kù) ..............................................................................................................................10 模糊推理 ..........................................................................................................................10 清晰化 .............................................................................................................................. 11 移動(dòng)機(jī)器人模糊系統(tǒng)的設(shè)計(jì) .............................................................................................12 建立輸入輸出量的模糊語(yǔ)言及其隸屬度函數(shù) ..............................................................12 建立模糊控制規(guī)則 ..........................................................................................................13 進(jìn)行模糊推理與解 模糊 ..................................................................................................14 本章小結(jié) .............................................................................................................................16 4 模糊邏輯避障控制算法仿真與驗(yàn)證 ......................................................................