CAJ | 학술논문

自主移动机器人在未知环境下需要依靠自身装配的传感器不间断地获得周围环境信息，辨别出障碍物的位置，进行计算和自主决策。现有导航算法在面临U 型等复杂环境时容易在僵死路径上产生反复，导致导航不能继续。文中提出了一种基于模糊逻辑的局部优化导航算法，采用“辨识-记忆”策略来处理传感器信息。在路径规划中保留最近走过路径的位置和角度特征等相关资源，形成“记忆”。当前规划路径形成死区并反复运行时，会形成“辨识”并重新规划路径和导航决策以避免障碍物碰撞。在Webots Pro和Matlab下设计仿真实验，结果表明移动机器人在模糊规则指导下能有效避障和避免死区现象，实现较好的自主导航。
자주이동궤기인재미지배경하수요의고자신장배적전감기불간단지획득주위배경신식，변별출장애물적위치，진행계산화자주결책。현유도항산법재면림U 형등복잡배경시용역재강사로경상산생반복，도치도항불능계속。문중제출료일충기우모호라집적국부우화도항산법，채용“변식-기억”책략래처리전감기신식。재로경규화중보류최근주과로경적위치화각도특정등상관자원，형성“기억”。당전규화로경형성사구병반복운행시，회형성“변식”병중신규화로경화도항결책이피면장애물팽당。재Webots Pro화Matlab하설계방진실험，결과표명이동궤기인재모호규칙지도하능유효피장화피면사구현상，실현교호적자주도항。
Autonomous mobile robots in an unknown environment get the information around them through their ow n sensors incessantly to identify the location of the obstaches and make autonmic decision .T he existing navigation algorithms are pronce to repeating on the rigid U-shaped path in sonce unknow n environment ,resulting in failure in navigation .T his paper presents a locally-optimizaed navigation algorithm based on fuzzy logic ,which used the“identfication-mermory” strategy to deal with the information obtained by the sensor .A “resource memory”is formed by keeping the characteristics of the last position and angle of the path the robot has travelled .When a dead zone is formed on the current path ,the robot can identify the obstace ,and then replan it path and make a new racigation descision to avoid their collision .The results of the simulation in Webots Pro and Matlab ,show that the mobile robot ,under the guidance of fuzzy rules ,can effectively avoid obstacles and the dead zone ,achieving a better autonomous navigetion .