模糊控制策略在避碰运动系统中的应用.pdf

20 6 © Vol. 20 No. 6 2008 3 Journal of System Simulation Mar., 2008 , 150001 Step-Forward TP242 A 1004-731X (2008) 06-1554-05 Application of Fuzzy Control Strategy in Collision Avoidance Motion System LIANG Yan-hua, JIN Hong-zhang, CAI Cheng-tao College of Automation, Harbin Engineering University, Harbin 150001, China Abstract: The collision avoidance of Multi-robot motion has been widely applied in various environments as well as the control strategies about Multi-robot systems are also different. The collision avoidance problem between robots and robots as well as between robots and obstacles in Multi-robot systems are deal with based on the omni-directional vision sensor. The model of autonomous robot, the method of detecting dynamic speed of robot and the dangerous degree surrounding with the robot were discussed. The fuzzy reasoning based on Step-Forward motion strategy was applied in the motion decision making of robots to implement rapid and accurate motion following a non-collision path. The simulation results show that the fuzzy-based control collision avoidance strategies are intelligent and useful for making decisions on collision avoidance in multi-robot systems. Key words: multi-robot systems; omni-directional vision; collision avoidance; fuzzy control 1 [5] [6]