| 智能移动机器人的超声避障研究 |
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| 引用本文： | 杨东鹤,刘喜昂.智能移动机器人的超声避障研究[J].计算机工程与设计,2007,28(15):3659-3660,3748. |
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| 作者姓名： | 杨东鹤 刘喜昂 |
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| 作者单位： | 1. 浙江理工大学,信息电子学院,浙江,杭州,310018
2. 浙江科技学院,信息与电子工程学院,浙江,杭州,310023 |
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| 摘 要： | 智能移动机器人是机器人研究领域的重要方向,是当前机器人领域中最活跃的研究主题之一.在分析了智能移动机器人避障常用传感器的基础上,提出了基于多超声传感器的移动机器人的超声避障系统.介绍了超声避障系统的模糊控制规则和非模糊化,并给出了实验结果.实验结果表明,模糊控制机理和策略易于接受和理解,便于应用开发,模糊避障算法对环境有很大的适应性,机器人在不同的环境条件下实现了避障.
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| 关 键 词： | 智能移动机器人 超声传感器 避障 模糊控制 非模糊化 智能 移动机器人 超声传感器 避障算法 机器人研究 mobile robot intelligent Research sensor ultrasonic based 环境条件 适应性 开发 应用 策略 控制机理 非模糊化 结果 实验 |
| 文章编号： | 1000-7024（2007）15-3659-02 |
| 修稿时间： | 2006-08-15 |
Research of intelligent mobile robot's obstacle avoidance based on ultrasonic sensor |
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| YANG Dong-he,LIU Xi-ang.Research of intelligent mobile robot''''s obstacle avoidance based on ultrasonic sensor[J].Computer Engineering and Design,2007,28(15):3659-3660,3748. |
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| Authors: | YANG Dong-he LIU Xi-ang |
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| Affiliation: | 1. College of Informatics and Electronics, Zhejiang Science and Technology University, Hangzhou 310018, China; 2. School of Information and Electronic Engineering, Zhejiang University of Science and Technology, Hangzhou 310023, China |
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| Abstract: | One of the most active research topics is intelligent mobile robot which is the important direction of robot research.With anal-yzing many sensors used in intelligent mobile robot's obstacle avoidance,a fuzzy algorithm of obstacle avoidance with multi-ultrasonic sensor is proposed.The obstacle avoidance is detailed based on ultrasonic sensor's rule of fuzzy control and courses of defuzzification,and the experimental result is produced.The experimental result indicates that fuzzy control mechanism and tactics is easy to being ac-cepted and suitable,the application of fuzzy algorithm has the very largely compatibility to the environment,and the robot's avoidance can be achieved under the different environment. |
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| Keywords: | intelligent mobile robot ultrasonic sensor obstacle avoidance fuzzy control defuzzification |
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