【正文】 RESULTSThe 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 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。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(jī)器人無法檢測到障礙。此外，可能會(huì)限制所使用的規(guī)則的數(shù)目有限的機(jī)器人的響應(yīng)的動(dòng)態(tài)。由于該項(xiàng)目沒有探索復(fù)雜運(yùn)動(dòng)或計(jì)算機(jī)模擬的機(jī)器人，它是難以確定到底有多少規(guī)則應(yīng)該被使用。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(yùn)行，以防止機(jī)器人到障礙物。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。最引人注目的將是實(shí)現(xiàn)伺服，使他們能夠掃描180度的紅外線或超聲波傳感器。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(gè)范圍。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(shí)間。然而，這將再次增加系統(tǒng)的復(fù)雜性。雖然這是難以確定這是否是一個(gè)有價(jià)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(gè)系統(tǒng)的設(shè)計(jì)。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 Autonomous Systems, 23(3), 171186 (1998).采用模糊邏輯控制使1自主機(jī)器人避障設(shè)計(jì)William Martin 威廉馬丁Submitted on December 4, 2009 提交于2009年12月4日CS311 Final Project CS311 最終項(xiàng)目1. 1 INTRODUC引言 One of the considerable hurdles to overe, when trying to describe a realworld 其中一個(gè)很大的障礙需要克服， scheme with firstorder logic, is the strong ambiguity found in both semantics and設(shè)計(jì)設(shè)計(jì)設(shè)計(jì)是個(gè)強(qiáng)大的模糊區(qū)。s environment with some現(xiàn)實(shí)的模型，這種獲得信息的方法的精度仍然依賴于外部環(huán)境amount of precision.。在需要高精度or accuracy in a measurement is quite 。模糊邏輯控制的應(yīng)用范圍從利用六自由度[1]控制機(jī)器人手臂到從數(shù)字信號(hào)[2]中過濾噪音。這個(gè)項(xiàng)目企圖利用advantage of these fuzzy logic simplifications in order to implement simple obstacle avoidance簡化模糊邏輯，以實(shí)現(xiàn)移動(dòng)機(jī)器人的簡單避障for a mobile robot.。s chassis was constructed from an Excalibur EIMSD2003 remote 機(jī)器人汽車的底盤由Excalibur MSD2003遠(yuǎn)程control toy 。然而，這使得它的表面somewhat uneven surface to work on, so highdensity polyethylene (HDPE) rods were used to有些不平滑，所以用高密度聚乙烯（HDPE）棒來fill in empty 。Three Sharp GP2D12 infrared sensors, which have a range of 10 to 80 cm, were used for 三夏普GP2D12紅外傳感器用于測量距離，其測量范圍是10至80厘米，分別。用戶既可以將紅外傳感器采取三種（右，中，左）不同的測量距離分別是45度角。由于可靠地最小測量距離是10厘米，傳感器放置在距離小車前面約9厘米處。. 電子器件In order to control the speed of each motor, pulsewidth modulation (PWM) was used to 為了控制電機(jī)的速度，脈沖寬度調(diào)制（PWM）用來驅(qū)動(dòng)兩個(gè)L2722運(yùn)算放大器以使其工作在開環(huán)模式（圖1）。為了使電機(jī)的供電與其他器件的供電相分開， 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。這部分熱通過一個(gè)小熱槽和一個(gè)散熱風(fēng)扇使其保持平衡。 . 微控制器 Computation was handled by an Ardu 計(jì)算是由Arduino Duemilanove板和ATmega328微