Fuzzy controller for obstacle avoidance in robotic manipulators using ultrasonic sensors
Fuzzy controller for obstacle avoidance in robotic manipulators using ultrasonic sensors
复制标题
使用超声波传感器的机器人操纵器避障模糊控制器
DOI：
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发表时间：
1998
期刊：
影响因子：
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通讯作者：
J. P. Oria
中科院分区：
文献类型：
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作者：
J. R. Llata;E. G. Sarabia;J. Arce;J. P. Oria
介绍了一种由超声波传感器和模糊逻辑组成的监测系统的应用。事实上，这两种技术的结合使我们能够赋予机器人在动态环境中检测障碍物的能力，并决定是否需要替代路径。此外，考虑到回波信号数据可以用来获得物体的位置、运动方向和速度的近似值，模糊控制器可以用来选择一个安全点，从而改变当前的轨迹。
An application of a supervision system made up of ultrasonic sensors and fuzzy logic is presented. In fact, the combination of both technologies permits us to endow the robot with capacity to detect presence of an obstacle in a dynamic environment and to decide if an alternative path is necessary. Furthermore, given that the echo signal data can be used to obtain an approximation of position, direction of movement and velocity of the object, the fuzzy controller can be used to select "a secure point", changing the current trajectory.