A goal-oriented fuzzy reactive control for mobile robots with automatic rule optimization
A goal-oriented fuzzy reactive control for mobile robots with automatic rule optimization
复制标题
具有自动规则优化的移动机器人目标导向模糊反应控制
DOI：
10.1109/iros.2010.5651799
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
Simon X. Yang
中科院分区：
文献类型：
--
作者：
Anmin Zhu;Simon X. Yang
为了在不可预测的环境中实现移动机器人的实时目标导向导航，本文提出了一种模糊反应系统。除了建立模糊逻辑系统外，本文还重点研究了模糊系统中参数的物理意义，提出了一种从规则库中自动抑制冗余模糊规则的系统方法。在所提出的自动冗余模糊规则去除系统的控制下，移动机器人可以更好地自主避开障碍物，并在各种情况下生成朝向目标的合理轨迹。通过模拟和实验研究证明了所提出方法的有效性和效率。
To realize real-time goal-oriented navigation for a mobile robot in unpredictable environments, a fuzzy reactive system is proposed in this paper. Besides the establishment of the fuzzy logic system, this paper focuses on the the physical meaning of the parameters in the fuzzy system, and proposes a systematic method to automatically suppress redundant fuzzy rules from the rule base. Under the control of the proposed system with automatic redundant fuzzy rule removal, the mobile robot can preferably avoid obstacles autonomously, and generate reasonable trajectories toward the target in various situations. The effectiveness and efficiency of the proposed approach are demonstrated by simulation and experimental studies.