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)-在線瀏覽
2025-01-05 04:46本頁(yè)面
【正文】 or speeds. (a) (b) (c) Fig. 2. The membership functions used for (a) distance, (b) translation speed, and (c) rotational speed. These functions were adapted from similar work done in reference 3. 4. RESULTS The fuzzy control scheme allowed for the robot to quickly respond to obstacles it could detect in its environment. This allowed it to follow walls and bend around corners decently without hitting any obstacles. However, since the IR sensors39。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 determine exactly 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 obstacles. 5. CONCLUSION There are several easy improvements that could be made to future iterations of this project in order to improve the robot39。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 environments. 6. REFERENCES 1 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
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