| 移动机器人智能避障算法仿真研究 |
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| 引用本文： | 彭忆强,惠艳翠.移动机器人智能避障算法仿真研究[J].西华大学学报(自然科学版),2010,29(2):28-31. |
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| 作者姓名： | 彭忆强 惠艳翠 |
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| 作者单位： | 西华大学交通与汽车工程学院,四川,成都,610039 |
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| 基金项目： | 西华大学研究生创新基金项目 |
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| 摘 要： | 针对轮式移动机器人运动过程中避免碰撞固定障碍物的问题,提出了一种基于预先检测位置的智能控制算法。该算法以障碍物边预先检测位置为运行过程的子目标,通过经由各子目标,实现移动机器人绕行障碍物,避免碰撞的目的。仿真结果显示:使用此智能控制算法,移动机器人能够实现平稳绕行障碍物,到达最终目的地。
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| 关 键 词： | 轮式移动机器人 位置控制 智能控制 |
Simulation of Intelligent Control Algorithm of Obstacle Avoidance for Wheeled Mobile Robot |
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| PENG Yi-qiang,HUI Yan-cui.Simulation of Intelligent Control Algorithm of Obstacle Avoidance for Wheeled Mobile Robot[J].Journal of Xihua University:Natural Science Edition,2010,29(2):28-31. |
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| Authors: | PENG Yi-qiang HUI Yan-cui |
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| Affiliation: | PENG Yi-qiang,HUI Yan-cui(School of Transportation , Automotive Engineering,Xihua University,Chengdu 610039 China) |
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| Abstract: | For avoidance of a fixed obstacle,an intelligent control algorithm is put forward based on some pre-determined positions along the running way.The positions are defined as sub-goals in the algorithm.The robot is driven through these sub-goals with a position controller.Simulation results show that the wheeled mobile robot can reach the final goal smoothly controlled by the designed controller. |
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| Keywords: | wheeled mobile robot position control intelligent control |
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