计算机与数字工程2025，Vol.53Issue(2)：451-454,492,5.DOI:10.3969/j.issn.1672-9722.2025.02.026
基于模糊控制的移动机器人自主避障
Autonomous Obstacle Avoidance of Mobile Robot Based on Fuzzy Control
王险峰 1顾华宇1
作者信息
- 1. 东北石油大学计算机与信息技术学院 大庆 163319
- 折叠
摘要
Abstract
Aiming at the problem that mobile robots can identify obstacles autonomously and avoid obstacles smoothly in com-plex environments,a fuzzy control algorithm based on multi-sensor information fusion is designed.The input of the fuzzy controller is composed of the fusion of the position and orientation obtained by various sensors and the information of the surrounding environ-ment.The speed of the left and right driving wheels of the mobile robot is deduced by the fuzzy control system,so as to control the movement of the mobile robot.At the same time,in the process of motion,the mobile robot can sense the deviation angle from the target position in real time,and feedback the deviation angle to the fuzzy controller to ensure that the mobile robot can successfully complete obstacle avoidance.The proposed algorithm is tested by Matlab simulation platform.Experiments show that the algorithm can make the mobile robot successfully avoid obstacles and reach the target position,with good feasibility and robustness.关键词
移动机器人/自主避障/多传感器/模糊控制Key words
mobile robot/autonomous obstacle avoidance/multi-sensor/fuzzy control分类
计算机与自动化引用本文复制引用
王险峰,顾华宇..基于模糊控制的移动机器人自主避障[J].计算机与数字工程,2025,53(2):451-454,492,5.
