计算机技术与发展Issue(11)：79-82,4.DOI:10.3969/j.issn.1673-629X.2014.11.020
基于双层模糊逻辑的多机器人路径规划与避碰
Multi-robot Path Planning and Collision Avoidance Based on Double Fuzzy Logic
摘要
Abstract
A multi-robot path planning and dynamic collision avoidance system based on dual-layer fuzzy controller is proposed for path planning of non-communication multi-robot system in an unknown dynamic environment. Direction fuzzy controller has fully considered the obstacle distance and target angle information into the possibility of a collision of a robot and an obstacle,outputing the steering angle to realize the dynamic obstacle avoidance for robot. Speed fuzzy controller taking obstacle distance information as an input,the speed fac-tor as output,improve the efficiency and robustness of multi-robot path planning and collision avoidance system. The effectiveness of the method is verified in the Pioneer3-DX robot entity environment.关键词
多机器人系统/路径规划/方向模糊控制/速度模糊控制Key words
multi-robot system/path planning/direction fuzzy control/speed fuzzy control分类
医药卫生引用本文复制引用
高翔,苏青..基于双层模糊逻辑的多机器人路径规划与避碰[J].计算机技术与发展,2014,(11):79-82,4.基金项目
国家自然科学基金资助项目(61104216) （61104216）
江苏省自然科学基金(BK2012832) （BK2012832）
江苏省高校自然科学基金(12KJB510015) （12KJB510015）
南京邮电大学人才引进基金(NY211020,NY211067) （NY211020,NY211067）
