Path Planning of Mobile Robot Based on Improved Fuzzy Control
作者单位：School of Computer Science and TechnologyShandong University of Technology School of MechanicalElectrical&Information EngineeringShandong University
会议名称：《第三十九届中国控制会议》
会议日期：2020年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
关 键 词：Mobile robot Local path planning Fuzzy control Trap prediction mechanism Multiple U-shaped obstacles
摘 要：Aiming at the problem of local path planning of mobile robot under unknown environment,an improved fuzzy control method of local path planning is proposed,and the strategies to solve the problems existed in the planning process are also ***,the behavior of avoiding obstacles and walking along the wall are integrated into a fuzzy controller,and the behavior alternation is realized by internal ***,aiming at the deadlock problem of multi-U-shaped obstacles in fuzzy control method,a judgment method of cumulative angle sum is proposed to help the robot escape the deadlock ***,by adding the trap prediction mechanism,the robot can overcome the limitations of the sensor measurement range to a certain extent,and predict whether the front is feasible and make decisions,then reduce redundant road *** addition,the steering strategy based on artificial potential field method is designed to solve the path redundancy caused by the symmetry of ***,the simulation tests are carried out on the MATLAB platform to verify the feasibility and validity of the designed methods.