CAJ | 학술논문

针对水下机器人的工作环境的复杂性与不确定性，为了提高自主式水下机器人与外部环境交互及自主航行的能力，结合视线导航原理与模糊控制算法，提出一种未知环境下水下机器人的局部路径规划策略，可实现机器人的实时避障功能。利用测距声呐、短基线系统对环境进行探测，得到一定范围内的障碍物与目标信息，通过模糊控制器实时调整水下机器人的运动偏转角度，有效地避开障碍物，达到预定目标点。最后通过MATLAB进行仿真，构建一个仿真实验平台，交互式设置障碍物的数量、大小、形状、位置等初始信息，机器人运用该算法在多障碍物、不同路障环境下，都能较好地实现机器人避障，验证了算法的有效性。
침대수하궤기인적공작배경적복잡성여불학정성，위료제고자주식수하궤기인여외부배경교호급자주항행적능력，결합시선도항원리여모호공제산법，제출일충미지배경하수하궤기인적국부로경규화책략，가실현궤기인적실시피장공능。이용측거성눌、단기선계통대배경진행탐측，득도일정범위내적장애물여목표신식，통과모호공제기실시조정수하궤기인적운동편전각도，유효지피개장애물，체도예정목표점。최후통과MATLAB진행방진，구건일개방진실험평태，교호식설치장애물적수량、대소、형상、위치등초시신식，궤기인운용해산법재다장애물、불동로장배경하，도능교호지실현궤기인피장，험증료산법적유효성。
Aiming at the complexity and uncertainty of working environments of underwater robot,in order to improve the capaci-ty of interacting with the external environment and autonomous navigation for autonomous underwater robot,a local path planning strate-gies of underwater robot combined line-of-sight navigation principles with fuzzy control algorithm in an unknown environment was pro-posed,and real-time obstacle avoidance was achieved by the robot. Obstacles and target information within a certain range was obtained by using the ranging sonar and short baseline system to detect the environment. The deflection angle of the underwater robot was real-time adjusted by adopting a fuzzy controller,and then the obstacles could be effectively avoided to reach the predetermined target point by the robot. Finally,a simulation experimental platform based on simulation by MATLAB was built. The number,sizes,shapes,and locations of obstacles were interactively set. The robot can avoid multiple obstacles in different road environments by adopting the fuzzy algorithm,which verifies effectiveness of the algorithm.