基于人工势场法和模糊逻辑的移动机器人控制

2006 12th International Power Electronics and Motion Control Conference Pub Date : 2006-08-01 DOI:10.1109/EPEPEMC.2006.4778431

V. Stoian, M. Ivanescu, Elena Stoian, Cristina Floriana Pană

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引用次数: 14

摘要

本文提出了一种基于模糊逻辑和人工势场的移动机器人在其工作区域内运动的控制方法。首先，提出了人工势场法。本文首先讨论了基于吸引人工势场的无约束运动，然后讨论了基于吸引和排斥人工势场的有约束运动。设计了一种模糊控制器。最后给出了一些应用。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Using Artificial Potential Field Methods and Fuzzy Logic for Mobile Robot Control

This paper presents a new control method for mobile robots moving in its work field which is based on fuzzy logic and artificial potential field. First, the artificial potential field method is presented. The paper treats unconstrained movement based on attractive artificial potential field and after that discuss the constrained movement based on attractive and repulsive artificial potential field. A fuzzy controller is designed. Finally, some applications are presented.

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2006 12th International Power Electronics and Motion Control Conference

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