CAJ | 학술논문

为提高轮履复合式探测车转向避障能力,提出将超声波传感器安装于车身3个方向,并建立探测车避障环境模型,采用最小二乘法对3个方向的数据进行拟合处理.在基本避障行为和趋向目标点行为下设计相应的模糊控制方法对探测车转向避障行为进行控制.通过在VisuaC++下建立探测车仿真环境,在Matlab环境下建立的模糊控制器,并通过它们之间的接口进行数据交换来实时地显示探测车避障的整个过程.仿真结果表明:探测车在所设计的模糊规则库下能够灵活转向避障,并顺利到达目标点.
위제고륜리복합식탐측차전향피장능력,제출장초성파전감기안장우차신3개방향,병건립탐측차피장배경모형,채용최소이승법대3개방향적수거진행의합처리.재기본피장행위화추향목표점행위하설계상응적모호공제방법대탐측차전향피장행위진행공제.통과재VisuaC++하건립탐측차방진배경,재Matlab배경하건립적모호공제기,병통과타문지간적접구진행수거교환래실시지현시탐측차피장적정개과정.방진결과표명:탐측차재소설계적모호규칙고하능구령활전향피장,병순리도체목표점.
In order to improve the ability of obstacle avoiding of the wbeel-tracked exploration robot, three ultrasonic sensors are fixed on the front and the sides of the bodywork. And the obstacle avoiding model is established. The least square method is used to fit the data from three directions. By basic obstacle avoiding behavior and target approaching behavior, corresponding fuzzy controlling method is designed. The simulation environment is established by VisuaC + +, and the fuzzy controller is also established by Matlab, then by the interface between them, the obstacle avoiding course can be showed in real-time. The simulation results indicate that the wheel-tracked exploration robot can turn flexibly and avoid obstacles neatly, and it can also reach the target successfully.