未知环境中移动机器人实时导航与避障的分层模糊控制

:100220446(2005)06204812053,(,100083):,,.8.,(DFC),.(VFC)(RFC).VFC.RFC,..:;;;;:TP24:BAHierarchicalFuzzyControllerforReal2timeMobileRobotNavigationinUnknownEnvironmentsLIBao2guo,ZONGGuang2hua(RoboticsInstitute,BeihangUniversity,Beijing100083,China)Abstract:Thispaperpresentsahierarchicalfuzzycontrollerformobilerobotnavigatingfromaninitialpositiontoatargetpointthroughunknownenvironments.Eightsonarsensorsaremountedontherobottodetectobstaclessothatthemobilero2botcannavigatesafely.Sonardataandtargetinformationareprocessedbythetwo2stagefuzzysystemtogeneratethecontrolcommands.Firstly,thedangerfuzzycontroller(DFC)isusedforeachsonarsensortojudgethedangerdegreeofthedetec2tedobstacles.Then,alltheoutputsoftheinferenceengineareanalyzedandnormalizedbythecombinationbehavior.Final2ly,thedangerinformationaswellasthefuzzifiedtargetinformationisinducedbythevelocityfuzzycontroller(VFC)andtherotationfuzzycontroller(RFC)respectivelytodeterminethemotionoftherobot.Maximumdefuzzificationmethodisusedtosolvethesymmetrichesitationproblem.Simulationsandexperimentsvalidatetheperformanceandeffectivenessoftheproposedapproach.Keywords:mobilerobot;navigation;obstacleavoidance;fuzzycontrol;hierarchical1(Introduction).,,,,.CCD.,[15].,,.,.,.,[25].,276200511ROBOTVol.27,No.6Nov.,20053:2005-03-28=6561.,..,[68],.,.2(Environmentperception),.,..,,.,,8(1).[1]EE2RUF,,.1Fig.1Sensorconfigurationandenvironmentperceptiond.Pos=(d,)..,,.,,.,,8.(D),,.3(Hierarchicalfuzzycontrolsystem),.1..,,;,.,.(2)3.(DFC),,.(VFC)(RFC),.3.12,DFC.2Fig.2ArchitectureofthehierarchicalfuzzycontrollerDFC5.,.DFC,(CL)284200511(NE)(FA)(LB)(LS)(RS)(RB).DFC(p),7,(NB)(NM)(NS)(ZE)(PS)(PM)(PB)..3.3dpFig.3Fuzzysetsandmembershipfunctionsford,,p.,:dCLLS,pNB.(1)..,DFCMamdani.,,DFC,.1.1Table1Rulesofjudgingdangerofanobstacle(p)()LBLSRSRB(d)CLNMNBPBPMNEZENSPSZEFAZEZEZEZE,(p).p,p.,p,,.3.2DFC,(NB,NM,NS,ZE,PS,PM,PB).88.8,..DFC8,:A=p11p12p17p21p22p27wp71p72p77p81p82p87pij(i=1,2,3,,8,j=1,2,3,,7)ij.Aii(di,i),jj.,A18()NB,7PB.,A.4(ZE),,.,4€p=1-p.,A.,.,.,ZE,.:P=[P1P2P7],Pj=1-8i=1(1-pij),j=1,2,3,5,6,78i=1pij,j=4.384276::Pj=Pj7i=1Pi,j=1,2,,7VFCRFC.3.3,P.VFCRFCP(D).VFCP(v).,..RFCP().,.,,.VFCRFC3.1DFC,.4.,23.(VC=,VS=,SL=,ME=,QU=)4DvFig.4FuzzysetsandmembershipfunctionsforD,,v,,(Centroid).,(,),,,,.2Table2Fuzzyrulesforlinearvelocity(v)(D)ZEVCCLNEFA(P)NBZEZEZEZEZENMZEVSVSSLSLNSZEVSSLSLMEZEZEVSSLMEQUPSZEVSSLSLMEPMZEVSVSSLSLPBZEZEZEZEZE3Table3Fuzzyrulesforrotationvelocity()()LBLSZERSRB(P)NBPSPSPSPBPBNMPSPSPSPBPBNSNBPSPSPSPBZENBNSZEPSPBPSNBNSNSNSPBPMNBNBNSNSNSPBNBNBNSNSNS,.,.,,[9],,.4(Simulationandexperiment),MobotSim.8,24.25.5.,.,5(b),,,.484200511(a)(b)5Fig.5Simulationresults,1..8Polaroid,.DSP8,CAN.EERUF[1]15Hz,.,10m,().6..6Fig.6Experimentscenesandresults5(Conclusion).,34,.,,,....(References)[1]BorensteinJ,KorenY.Erroreliminatingrapidultrasonicfiringformobilerobotobstacleavoidance[J].IEEETransactionsonRoboticsandAutomation,1995,11(1):132-138.[2]Ramirez2SerranoA,BoumedineM.Real2timenavigationinunknownenvironmentsusingfuzzylogicandultrasonicsensing[A].Proceed2ingsofthe11thIEEEInternationalSymposiumonIntelligentControl[C].USA:IEEE,1996.26-30.[3]MarrefH,BarretC.Sensor2basedfuzzynavigationofanautonomousmobilerobotinanindoorenvironment[J].ControlEngineeringPrac2tice,2000,8(7):757-768.[4]BeomHR,ChoHS.Sonar2basednavigationexperimentsonmobilerobotsinindoorenvironments[A].Proceedingsofthe15thIEEEInternationalSymposiumonIntelligentControl[C].USA:IEEE,2000.395-401.(501)584276:[C].USA:IEEE,1998.2081-2086.[8],,,.[J].,1997,33(3):71-75.[9]GaoXH,JinMH,JiangL,etal.TheHIT/DLRdexteroushand:workinprogress[A].ProceedingsoftheIEEEInternationalConfer2enceonRoboticsandAutomation[C].USA:IEEE,2003.14-19.[10].[D].:,2005.:(19812),,.:,.(19642),,,.:.(19642),,,,.:,.(485)[5]ThongchaiS,KawamuraK.Applicationoffuzzycontroltoasonar2basedobstacleavoidancemobilerobot[A].Proceedingsofthe2000IEEEInternationalConferenceonControlApplications[C].USA:IEEE,2000.425-430.[6],,.[J].,2004,21(4):489-494.[7]HaniA.Hagras.Ahierarchicaltype22fuzzylogiccontrolarchitectureforautonomousmobilerobots[J].IEEETransactionsonFuzzySys2tems,2004,12(4):524-539.[8]TeinerM,RojasI,GoserK,etal.Ahierarchicalfuzzysteeringcon2trollerformobilerobots[A].ProceedingsoftheIEEEInternationalSymposiumonComputationalIntelligenceforMeasurementSystemsandApplications[C].USA:IEEE,2003.7-12.[9],,.[M].:,1997.:(19772),,.:,.(19432),,.:,MEMS.(496)[5]MielikainenJ,KosskinenI,HandroosH,etal.Positioningofflexi2bleboomstructureusingneuralnetworks[A].Proceedingsofthe9thInternationalConferenceonComputerAnalysisofImagesandPatterns(LectureNotesinComputerSciencevol.2124)[C].Berlin:Spring2er2Verlag,2001.435-442.[6]TienFL,GrierCI.Anon2linerelativepositionandorientationerrorcalibrationmethodologyforwork2cellrobotoperations[J].Robotics&Computer2integratedManufacturing,1997,13(2):89-99.[7]JohnH.Acomparisonofidentificationtechniquesforrobotcalibra2tion[D].USA:CaseWesternReserve